We made sure to buy a lot of items from Kaya so we could max out her affinity at level 3. Along the way, we tackled various quests from other NPCs, some of whom led us to Kaya due to her provided information.
Once we had access to the Great Desert region, we chose the "Request" dialogue option. This led to Kaya asking us to help find her sister Kara.
Upon reaching the northeast of the Great Desert, you'll notice a moored ship in the distance. Follow the path that leads to an opening and make sure you rest up. Past this point, there's a boss battle against the Behemoth Naytiba.
Once the Behemoth has been defeated, look around to find Kara's corpse. Scan it and return to Kaya to bring her the bad news. This completes the Encounter side quest, which nets you the Stellar Blade Sky Ace outfit.
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