Yeah you can get both endings without starting over just need to do some extra stuff. The normal ending happens when you beat the final boss The Great Sages Broken Shell in Chapter 6, where youll see the six senses leave the body and The Destined One gets trapped in the rock with the crown.

For the secret ending though you gotta do more exploring first head to Mount Mei in Chapter 3, and complete that Treasure Hunter quest its pretty important. Youll also need to find some hidden areas scattered through Chapters 1 2 4 and 5 dont skip these or youll miss out. When you get to Chapter 6, youll need to beat Erlang and The Sacred Divinity, then take down the Four Heavenly Kings before fighting The Stone Monkey and The Great Sages Broken Shell again. This time the ending changes and The Destined One proves worthy of the six senses without getting trapped.

Tip: might be good to do the normal ending path first since itll help you get better at fighting, which youll need for those secret area bosses. The whole story makes more sense this way too and you can always go back to get the other ending right after. Just make sure you find all those secret spots before finishing Chapter 6, or youll have to start over to see both endings properly.