I've been playing this game way too much, thought I'd throw up a little content that may help players on many, many runs.
The Underking may seem quite intimidating on the first encounter, but with a little brazen courage and good timing, you can quite easily clash his basic attacks for criticals, and with the right Arcana equipped, throw his flamethrower right back at him.
I tried to keep my build as basic as possible to examine and document the boss's patterns; when he gets whited out, that's because I had Unstable Dash equipped.