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Actually the protector of Crete was Talus, not Talos. And he wasn't a minotaur...he was a bronze giant.
Talos was the nephew of Daedalus, who showed even more talent for invention than his uncle. Before he was ten he'd invented the saw, the compass and one or two others I don't recall. Daedalus killed him out of jealousy. In some versions of the myth he ended up at the Minoan court because he was fleeing punishment for this crime; in others he doesn't kill Talos until after Icarus is dead.
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Daedalus did make the labyrinth of course, and the Minotaur
was kept there. I gotta wonder if PC's Talos' arch-nemesis was
named Daedalus.
....hmmm
Is there any direct reference to the Minotaur in game?
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Well, there's a HUGE statue in Talos...

And the badge found there is called "Minotaur" too.