This is the only chance you have at getting a Garnet while on the Surface. You need to get the drop from Minotaur if you want a piece of the Aura equipment early, and I'm going to be resetting this fight offscreen until I get one. Fortunately it's like FE and the rng changes by just doing different actions on x turn.
He's actually not that threatening, his phys attack can deal some damage but he priorities using Mazio over it despite having fuck all for a magic stat, so all in all he can't hurt you. Just kill all the healers and them finish him off with two attacks.
He can't move across mountains so you're free to take a detour around to collect the treasure chests, his cronies are out in the open then and you can reach them unlike when you go in the mountains and they can get stuck behind him and you can't kill them.

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