Oh quite likely, hyao has a post stating he wants to add in more of a lot of characters specifically furry ones including minotaurs (but not specifying them). And orcs because of korg we most likely could be taken there by him to meet his clan and help them out of they accept the main character. Or you could trick them by sucking someone's dick but who knows.
(for the most part guesses but the minotaur they is only one so it's pretty big chance. Along with orcs because of korg, sadly though not at the moment is there anything other than the orcs in the battlefield and korg for that part.)