Courtesy of Setsu:
https://m.youtube.com/watch?v=p2zN6pHjowc
Can obviously be done faster than this run. I do something similar, but use Verdandi board change for the dragon and Ares for final floor. Maybe could use Goemon, I never really checked the damage.
I run Sowilo with Ares, Yamato, Uriel, Urd. Row for second floor, TPA for trash and armor knight, orb change and rows on harder floors. Urd to combo down Athena, Yamato/Uriel to convert away dark on Venus.
It's not really possible to push button most descends because many have preemptive hits, combo checks, and skill binds, which are all issues for fast farming teams like Goemon.