Avoid fighting guards directly.

Hint 1 of 3:

You don't need to fight every guard that you see.

Hint 2 of 3:

For example, when you're on the bridge on the way to the Draracle, just
outrun the guards and open the door to the Draracle without ever fighting
them.  (The manual seems to indicate this won't work, but I never had a
problem.)

Hint 3 of 3:

There's also one guard standing in a very dangerous location.