-( Story related, cannot be missed )-
This is story related and, therefore, you can't miss it! That's totally great, right? In Phase 2, in Archia after you've visited Lymph Vessel for the first time, you will be able to choose the V-Board Racetrack in the Archia sub-menu. After an animated cutscene (one of a few that you can't skip through), you will have a fateful encounter with Soma and this scene will also come along.