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This topic has been extensively discussed in the forums when playing as Laura. Even she struggles to maneuver units with 6+ speed (unless the terrain is exceptionally favorable, which is impossible in dungeons), as the map is only 14 squares long, making the math straightforward. Perhaps with a Devil and 6 units, waiting for morale boosts might work, but I haven't tried it, and it would be quite a stretch. So, having snow in the dungeon is always a good option.

Added 1 minute ago

With a speed of 9, taking the Crimson Tower is almost impossible, but with a speed of 10, I think it's possible.

There's no way to take it. You can try, but it won't work. However, with a speed of 11, it might be possible, which is why I mentioned the Devil.