You obtain the quest from reaching rank 4 with xur( the one levelled up by dares of eternity) and claiming the item. You maybe got confused with xur in the tower.
English
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Oh snap sorry I'm relatively new. Silly question but, Where is the other xur? Thanks for responding!
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So you play dares of eternity from the eternity "planet" icon on the middle of the three nodes within it . It's a matchmade 6 player activity that's basically a game show that's relatively easy and quick. However, the loot incentive is minimum given the currency for it was removed. You access xur by the node on the right side in a small hub area where you can claim rewards