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Keep using it to increase your bond. However, there's a certain rhythm to tap that maximizes speed and minimizes stamina use. Pay attention to how long the speed boost lasts. When the boost ends, press the spur button again. From what I remember, this should use almost no stamina.
Number of fellow Poets of the Fall fans: 27 Want: Ghost of Tsushima, Stanley Parable Ultra Deluxe, Psychonauts 2, Bully 2, Atomic Heart