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As with any other bonfire, just kill all the enemies and light the bonfire, it’s a pretty simple step for this mission.

Head towards the final yellow marker and you’ll get to the Udam bonfire.

After triggering two yellow markers, you’ll then have an actual objective of finding the Udam bonfire and claiming it for the Wenja. There are Udam enemies along the way but you can ignore them if you want if you are riding on an animal. Once you’re out of the caves, follow the yellow marker on the minimap. Once you’ve done that, be sure to head up to the outpost, eat the antidote meat before going into the poison cave, and head on through it.