Orangguerra serves as the boss in Dante's Mission 3 then appears again in subsequent levels. Lucia fights it only once in Mission 4. This fight with Dante is one of the biggest reset point in the game regardless if it's safe strategy or not. Lucia on the other hand usually goes the same way because she gets enough DT gauge after obtaining Offence Heart which allows her to speed up the fight by large amount.
NG+ Note: Round Trip / Aerial Cross + Flame Heart trivializes this fight.
Lucia can trigger Flame Heart glitch against this boss.
In Mission 3, Dante fights different version of this boss :
Orangguerra when one of the arms are cut. It disables, the ability to climb or cling into any walls
Staying close to the door will make Orangguerra constantly cling on it
You have two options to cycle: The risky one which is Majin set up from goatling fight and the Million stab stun-lock method. It’s highly recommended to go on a safer option for a while.
Million Stab Method Safe
Majin Method Risky
Risky cycle is self-explanatory. There is no consistent set-up and it entirely depends on previous fight with the Goatling. The best case scenario is when you have enough HP to take stomp from Orangguerra itself so, you can immediately transform into Majin.
The only tricky part about this fight is when you time your Air Raid state and the end cycle :
It's good to check the Frequently Asked Questions(FAQ) if you have general questions regarding the bosses.