Re: Prevail and Undress/How to unlock some weapons?
Regarding "which is better" question: Prevail gives much better stat boosts and starts working earlier (Prevail III has +20% at <80% HP and +50% at <50% HP), but Undress also gives +30 Hit/Evd and +15 Crit (at lvl III); AFAIK, such Evd bonus can be a life-saver sometimes.
And yes, you can use both at once, and gain both bonuses.
For each angelmaid, recipes for second and third weapons are unlocked by leveling the previous weapon. Next recipe requires you to complete their personal quests (which are given when they reach lvl55). Some more recipes are unlocked after reaching Meister/Magnus ranks, and clearing EX-dungeons.
Ultimate weapons require Magnus rank, which is gained by being Meister and having 500 kills on Wil. By the way, if you start a new playthrough after that, you'll have to get 500 kills again to get the recipes back.