"The great me" Wow, this old man is an ore-sama type character? It's usually brash young ikemen types who fit the archetype.
Man, Yoke still doesn't trust his party members not to instantly die on him when he isn't looking? It's concerning. I thought he was done with sheltering them like some overprotective dad. Character development for Yoke when? He even gets an instant escape card for his party with that scroll but it took a pompous top aristocrat to butter him up so he'd agree.
Furthermore, the mission is "gather information" not "conquer the dungeon and slay the boss or die trying". Although it might have helped if the guild at least promoted his party to "B" before this clearly dangerous request.