West + North. If the north is impassable, then West + North again.
Rikiya loses 20 stamina (990/1400)
Genji loses 20 stamina (230/640)
Eichiro loses 20 stamina (142/552)
Keiji loses 20 stamina (370/780)
Hajime loses 20 stamina (10/180)
Koji loses 20 stamina (1730/1900)