I'm going to be using the UA as a base for a lot of it, but the idea that they're a band of marauding Viking-esque pirate mercenaries appeals to me. They're going to come from Nandeasia mostly. The reason they haven't conquered the known world is because they're numbers are mostly kept in check through their rigorous trials and honour system. There's a lot of controller infighting. They're biggest conflicts have been with the Dragonborn empire and the Lizardfolk empire on the continent of Ruzhai. If you look at Nandeasia, it's split by a strait that runs through the middle. This is called Baphomet's teeth. It's raging oceanic rapids moving between the dangerous rocky shores of the islands within it. It's how sailors test their mettle. In order to earn your spot as a captain of your own ship you must sail through the teeth and come out the other side unscathed… alone. How Minotaur get to Abhain Calmir, THAT id like to know.
For Minotaur, think cultural influence of Pacific Islanders. I forgot to mention that above.