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Credit for awesome summary Attack on Titan Season 4 Wikipedia.
After escaping from the pursuing Jaegerists, Hange sets up camp in the forest and stitches up Levi's wounds. As she finishes, they receive Eren's message to the Eldians via the Paths.
Later, when Hange and Levi find Pieck and Magath, they offer to ally with them over Levi's goal of killing Zeke.
Connie arrives with Falco in Ragako Village where he plans feed Falco to his mother, but he is interrupted by Armin and Gabi. The despairing Armin jumps into the Titan's mouth instead, but he is saved by Connie, who changes his mind about feeding her Falco. They all return to the city where they encounter Annie who joins them.
Meanwhile, Mikasa recovers her scarf from Louise who is suffering from fatal injuries.
Floch prepares to have himself and Jean execute Yelena and Onyankapon for treason against the Eldian Empire, but instead Jean fires four shots into the ground claiming he missed. Pieck's Cart Titan suddenly appears and grabs Jean, Yelena, and Onyankapon, taking them to Magath, Levi, and Hange who have joined forces. Jean's shots were also a signal to Mikasa and Connie's group to leave with Annie and join up with Reiner in their mission to "save the world" from Eren.
NOTE: This episode takes place at the end of volume 31 of the manga.