will there be a way to chapter skip to the intermissions. cause it would be nice to replay the side quests, like the ones with liebra.
That's not currently in the plans, no. (I'd suspect thinking about the structure that it wouldn't be fantastically viable, either)
My best suggestion would be making saves at those points you want to revisit.
(Though with the liebra ones, they can all be done at once, so a singular jump later on to the endgame chapters when they're all available would go a long way)