Inspired by @Spockrocket's Saturn runs, I bought a Japanese Saturn for cheap and got started. My original strat was to kill the Angel to only encounter once, but that proved unnecessary.

My realization was treating Saturn pathfinding like the bad port that it is. Move onto the causeway first and then the Lords won't decide to take a dip in the lagoon.

The setup is interesting. Your Lord always starts with the Brunhild equipped. If Female, you recruit Male Ianuki a la Destin. If Male, you recruit Female Phantom. Your partner has fixed stats higher than what you can get on yours.

Female is 100% necessary for a 1 card + 2 attacks kill. Card options are Judgment, Magician or Justice. Thunder Lord won't work. Fastest is theoretically Ice Cloud + Judgment + Weakest tactic, if you're fast enough on the menuing.

I timed moving Brunhild to the other Lord in 7 seconds. Might be the optimal strat in a TAS.