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Financial documents such as 10-K filings pose significant retrieval challenges due to their length, formal structure, and domain-specific language—features often underutilized by standard retrieval-augmented generation (RAG) models. We present FinGEAR (Financial Mapping-Guided Enhanced Answer Retrieval, a retrieval framework tailored for financial document analysis. FinGEAR introduces a modular architecture that combines lexicon-guided filtering, dual-hierarchy indexing (via a Summary Tree and Question Tree), and cross-encoder reranking. This structure-aware design enables fine-grained retrieval aligned with financial discourse. Extensive evaluations show that FinGEAR significantly outperforms state-of-the-art RAG baselines across multiple retrieval metrics. By explicitly modeling document semantics and structure, FinGEAR improves retrieval fidelity and enhances downstream task performance, offering a principled solution for high-stakes financial information access.