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A major incident has occurred in the peaceful Sky Land!? The young Princess Elle has been kidnapped by the monsters of Underg Empire! A brave young girl, Sora, follows the princess through a mysterious hole. "TV"? "Cars"? Are those some kind of magic tools!?!? But there's no time to be surprised! She has to get the princess back to the castle...! Flying between two worlds! The adventure with the Pretty Cure begins now! It's hero time!

A direct continuation of the former season, this series again follows the story of Nozomi Yumehara and her friends from Yes! Precure 5. The girls who had formerly lost their powers and bade farewell to their friends Coco and Nuts from Palmier Kingdom are resurrected as Pretty Cure by the mysterious woman Flora who also wants them to find her in a place called Cure Rosegarden. To go there, they need the magic Rose Pact and the powers of the four kings of countries surrounding Palmier. But a dark organization called Eternal is also striving to get to Cure Rosegarden by stealing the Rose Pact. Luckily, Precure get helped by new allies: the delivery-boy Syrup who can change into a giant bird and fly them anywhere they want and the mysterious and beautiful fighter Milky Rose stand alongside Pretty Cure to protect what is really valuable.

The world is dying, no longer able to support life. The Ainsworth family can use the Holy Grail to save humanity, but the price of salvation is sacrifice of the magical girl Miyu — but Miyu’s brother, Shirou, won’t let them have her without a fight. Now it’s up to Illya to step in and find a solution that will save not only Miyu, but the entire world for impending doom. But when the price for the world's salvation is the life of a single, innocent girl, what will Illya choose?