Headhunted to Another World: From Salaryman to Big Four! Vol. 6 (manga)

Uchimura embarks on a perilous journey with a small band of the Demon Kingdom’s finest warriors to rescue Ulmandra, who’s been kidnapped. They attempt to infiltrate the castle disguised as a traveling group of merchants. Their plan is quickly thwarted, though, by non other than Ulmandra's kidnapper--the dreadful Van!