I dropped everyone one by one & sneaked them away from the minotaurs' line of sight. That way when my mage finally dropped & triggered the fight regardless I got 3 sneak attacks on them. They still yeeted Lae'zel off the cliff but I somehow still managed to off them without needing to resurrect anyone, including Lae'zel. You absolutely need to be lvl4...anything less requires luck or cheese.
