Best path

Spero - Grail Castle:
Option 1:
In the road 
75 stamina needs (maximum. If you have high walking skill or horse it's less)


Option 2:
Mostly on the road, but the last part in the meadow
65 stamina needs

Spero - Witches Den:
Option 1:
Mostly on the road, and when you arrive to the road what is located north from the Witches Den, you go south
58 stamina needs



Option 2 and 3:
Firstly, you can go one step north, then you go west, and then north.
Secondly, you take 4 steps north, and after that straight west.
49 stamina needs

Spero - Camaar:
Option 1:
On the road 
126 stamina needs maximum, if you cut down the way near the Grail Castle, it is just 123.


Option 2:
You go on the road, but when you reach the crossroads what is near to the Old Mine you go south 2 stepps and then west (and you go through 2 forests)
120 stamina needs



Option 3:
Best what I found.
116 stamina needs