So Udyr can just take turrets without minions later in the game

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Depending on item builds (and stacks), so can these guys.

cough cough AP A-choo cough Xin cough

The problem isn't Udyr, its the towers. Udyr has no strong/instant gap-closers outside of flash which is why if you let him get on top of you, you will get punished hard. Rewarding for the udyr player, punishing for player who gets caught out. Again, the issue is that towers are weak this season, not that Udyr is oppressive, Udyr has always been able to kill towers with no minions. I mained him in season 5 (can't main him now since everyone wants him q-q)

Also upvote for a fellow Udyr main :D