Saeros -> Turin -> Hurin -> Hareth -> Hador -> Hathol -> Magor -> Saelon
I found several ways to do this, but I think this is the quickest. As you said, there are a couple of connections you could assume to shorten this - but here it is at full length anyway.
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"The weight of this sad time we must obey,
Speak what we feel, not what we ought to say." (Act V, Scene III - King Lear)
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