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To complete the mission you just have to move "Kage-sama's" body a little bit. With that in mind I tried to only use Takuma and Aiko for this mission, as they start much closer to the objective than the other group. After experimenting a little while, I found out that it's indeed possible. By creating a massive distraction I manage to sneak Aiko in there, completely unseen, and finish the mission in only 52 seconds.
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Shadow Tactics - Mission 9 [Kage-sama's Camp] - Hardcore Speedrun