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"The lowest-ranked members of the Yiga Clan. They've been dispatched all across Hyrule with a single task: seek out Link and end his life. They're a crafty bunch, sometimes disguising themselves as simple travelers or villager to get the jump on you. Be wary of suspicious people you encounter. They've very agile and carry a bow and a one-handed sword."
Hyrule Compendium

Yiga Footsoldiers are enemies from The Legend of Zelda: Breath of the Wild. They are Sheikah renegade soldiers of the Yiga Clan and followers of Calamity Ganon. Link confronts them at the Yiga Clan Hideout in their usual appearance or in Hyrule disguised as travelers. Once Master Kohga is defeated, they will start attacking Link more frequently across Hyrule.

Story

Yiga Footsoldiers are the lowest ranking Yiga Clamsmen that serve as the group's primary footsoldiers. Before the Great Calamity, Yiga Footsoldiers attempted to assassinate Zelda twice while she was in Gerudo Desert. The attempt at Kara Kara Bazaar was thwarted by Link while the other was foiled by Urbosa who saw through their disguises and defeated them.

One hundred years later, the Yiga Clan are revealed to have sent Footsoldiers all over Hyrule to hunt down and end Link's life.

Disguise

Across Hyrule, they are disguised as ordinary travelers, waiting for Link to talk to them. Disguised Yiga Footsoldiers are always named "Traveler." When approaching them, no name appears above their head. When Link interacts with them, they tell a set of odd dialogue and then threaten Link's life, examples being "This is the end for you Hylian Champion!" or attempting to sell Link overpriced Mighty Bananas.

BOTWYigaTraveler

A Yiga Footsoldier disguised as an Hylian traveler

After speaking to Link, they remove their disguise and disappear after drawing the Yiga symbol with fire. Then they reappear, striking with a Vicious Sickle, or a Demon Carver if Master Kohga has been beaten. They will sometimes appear from above, striking down, or will rush Link at high speeds. When defeated, they will drop Mighty Bananas, a random number of Rupees and often their wielded weapon.

Ambush

After defeating Master Kohga, the Yiga begin seeking vengeance for him. As a result, many Yiga will abandon the traveler disguise and attack Link directly as he travels. These Yiga possess less HP than their disguised counterparts, and always wield Duplex Bows, teleporting into the air before firing at Link.

Spoiler warning: Spoilers end here.