Bifröst
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The Bifröst can be accessed by using a 
Bifröst Key at the pedestal found in the top-right corner of the Astral Encampment - Act 7
When speaking with Heimdall in the Bifröst you are given 2 random options, once you have selected your desired location then you must stand in the center of the machine above him and after pressing your Interact key, you will be teleported.
Below is a list of all locations that you can travel to using the Bifröst with the percentage chances that they will appear as options.
Possible Locations
Sheeponia - 20%
Mists of Chaos - 13%
Challenge Dungeon - 12%
Chaos Tower - 12%
Ruby Garden - 8%
Niflheim - 8%
Asgard - 8%
Uber Boss - 8%
Angelic Realm - 5%
Vanaheim - 3%
Rift of Fortune - 2%