From the north exit from the CHAMBERS, follow the street to the left (west). As you round the next corner...
...the MINOTAUR spawns just ahead. Note the location of the wooden wheel and door next to him, but don't waste time gawking.
He can't be damaged with bullets or explosives. He'll pound his massive hammer into the ground, and the shockwave rapidly depletes Lara's health. So bother trying to fight.
Just roll and run/jump back around the corner the way you came.
Run in through the back door of the CHAMBERS. The Minotaur should follow.
Sprint straight across the room to the other (south) end.
Climb onto either of the tall, decorated blocks flanking the doorway. (Here we'll go for the left one.) You're safe for now as long as you don't fall.
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