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Sonic Frontiers has some free additional content to acquire in the form of Sonic's iconic Soap Shoes from Sonic Adventure 2, but there is a specific thing you need to do get them!
This page is a comprehensive breakdown of how to get the Sonic Adventure 2 Shoes within Sonic Frontiers!
In order to get the SA2 Soap Shoes for Sonic in-game, you must head to the Sonic Frontiers official website. Once you're there, scroll down to the bottom of the page and you'll see an option to "Subscribe to the Newsletter".