Can I access the shrine near Kakariko village after completing the rest of the game?
Solution 1:
You've started the quest but don't know how to do it
From what I can tell, you have obtained the Stolen Heirloom shrine quest. If that is correct, you are on the right track, but you simply don't know how to progress in the quest. If you would like to know, keep reading. If you would prefer to find out yourself, stop reading now.
Note: If you are stuck but don't want the entire solution, you should read steps 1-3.
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Wait until nighttime, around 10-11 PM to give yourself enough time.
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Head to Kakariko Village.
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Get on top of the gate at the entrance to Impa's house. You can use Revali's Gale or you can paraglide down from in front of her doors.
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Wait for Dorian to start walking.
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Wait until Dorian walks a fair distance away – far enough away that he doesn't notice you.
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Prepare your Stealth Armor, drink a Sneaky Elixir, and/or eat stealth-increasing food, if you have it.
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Get off of the gate, and start slowly pursuing Dorian. If he notices you, you will need to start over.
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After pursuing Dorian for a fair amount of time, he will stop at a shrine pedestal. Walk towards the shrine pedestal, and kill the Yiga Blademaster that spawns.
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Go through Dorian's dialogue and pick up the ancient orb. Throw it into the pedestal to reveal the shrine.