The concept isn't too hard:
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×Get the soldier or stalwart into an eye chamber where they won't cross the plate, then get the other one into another eye chamber, then lead a roach across the arrow and stand beside it to keep it in place until the soldier/stalwart gets close, then you can kill it and hookshot them out.
The NE eye confused me for a bit, until I realized I was overlooking something simple.
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×You can just hookshot out of that one.
Juggling a soldier and stalwart around is pretty painful, so here's a demo in case the advice isn't enough.
