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Looks like everything in this game is in a .pac container, looking at the header of the file it seems they are using an updated version of the one they used for Sonic Forces:
Which has a header that reads "PACx301L" and for which there's an experimental bms script:
Anyways, if anyone wants to try and extract stuff from them it doesn't seem to be compressed or encrypted, here are a few example files:
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You can use Switch Toolbox to unpack the archive properly. Model files are ".model" and seem to be same/similar to previous Hedgehog Engine games. I guess there should be bunch of importers around. If not you can try this for a quick OBJ output : viewtopic.php?p=157955#p157955
I'm slowly making a blender script for the hedgehog engine. Mesh and UV are easy. I'm still looking into how the normals are stored. I also have enough info for getting weights but just need to work on the skeleton's bone positions.