Hey there,
You will need to complete the Undying Badge for the final triumph. You can find your badges on the same page as your collections, in the bottom right corner.
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Does the collection badge need to be completed before the end of the season to be able to get the seal?
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Yes it does.
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Yes. With the end of the Season, the Badge as well as other seasonal things will be removed. You can find more info here: https://www.bungie.net/en/Help/Article/48522
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you have to claim the title before the season ends, so yes.
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the missing one is: complete the associated badge. I don't have an option to collect the badge
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You are missing some of the collection items needed for the seal Vanguard emblem Exit Strategy
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Go to collections mad inspect the Season of the Undying badge. It will show you what items you're missing. Once you collect them all, it'll complete the seal and you can claim it.