Darkness Eroness as your stepmother

Though Darkness looks like an orthodox and heroic knight at first glance, she is actually a masochistic pervert who feels pleasure with pain and humiliation, enjoying all types of abuse (both physical and moral). Darkness' supposed selfless desire to face the danger and protect her comrades actually is a selfish desire to feel the pain of the enemies' attacks, which is why she constantly charges toward her foes without regard for the consequences, under the guise of being her Crusader's duty.

Moreover, as a noble of a prestigious house, Darkness is more refined and sophisticated than her companions, and although the latter might embarrass her, she interacts normally with commoners. At first Darkness used to hide her heritage, never using her influence unduly even when it was necessary. However, after her true identity was exposed, Darkness slowly started to feel more proud of her noble status and to use her authority and wealth to support her party.

Lastly, while Darkness is a rough, irritable, and stubborn person, often reacting violently or seizing the moment to pay back, as a paladin, she is actually a selfless and altruistic knight, ready to sacrifice her own happiness for the sake of others. However, since Darkness is too reticent about her sacrifices and altruism, she often causes more problems than she fixes. Also, throughout the series, Darkness started to be more self-full and fulfill her desires, even using her authority and resources to get items and monsters that please her fetish.