On the character selection screen, press left on the D-Pad, and it takes you to the equipment screen so you can equip the character who was previously highlighted on the character selection screen.
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[20:15] Irysa: I hate myself [20:15] Irysa: I made myself some curry [20:15] Irysa: and then [20:15] Irysa: I realised [20:15] Irysa: I wasn't hungry