Killed minos a few times now. Very first encounter was way too hard, my builds were bad and I avoided the fight. Second time through I had a mix of melee and ranged and was able to force out the fight with a few assists on downed characters. A lucky miss streak by them helped me finish the minos at the end.
After that I knew I could cheese them and knock them off a ledge or use other environmentals to win. I even ran them back to the keep and turned on the defense lasers but then they jumped up on the ramparts and I had to fight them normally again.
My latest kill was with an all melee group (to test viability I have my "brawler bros" and my "caster comrades" to see how balanced the archetypes are). My whole melee group is around 19-21 AC but the minos are still able to land hits on us reliably. I thought I was gonna have to reload and try again when one of my characters got knocked over the ledge and landed next to the bulette. Well the next move both mino's jump down and start attacking the guy down there, he gets downed pretty quickly...then the bullette starts attacking the minotaurs!!! they all got each other low and I threw a heal potion over the ledge and got my downed player up. I ran him out of line of sight and sheathed him away as the NPCs fought each other and I lobbed arrows from up top.....there are so many different ways to approach this fight it is pretty amazing.