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It's not hard to slip by the Hogar. He keeps to the center of the road, you can go by on the hills. I did this going to the cave and returning without any major trouble. Keep an eye on his dot on the radar, and run if he comes close.
He's not too hard to paralyze. Either level two or three will work on him. It won't last too long, so you need to beat him up quickly or recast it.
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