The Trail of Heroes Quest is a main quest that can be started at level 15. It involves getting four signatures from the heroes of Shiltz. Arus' and Claire's signatures are available without fighting and can be done straight away. Baldea's signature requires traveling through Clements Mine 1F which won't be comfortable until your character is in their 40s or unless you have help getting there - you can't be summoned in caves, but you can be escorted by higher level characters. Duran's signature requires beating Lioner which won't be comfortable until your character can survive his multiple hit attacks or again, if you have help.