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I have a question regarding battle commencement in case PCs are sneaking.

Let us say Party comes up to the door sneakily and all roll for Stealth initiative (with bonus because hidden behind the door). All goes well (PCs see relatively high numbers so decide to act slowly).

1st round

Party rogue decides to come up to the door and listen. Somebody is apparently behind the door. He decides to move aside and make space for the others.

Others wait behind the door and ready weapons stealthily.

Creatures behind the door can't hear them apparently and do their stuff.

2nd round Party decides to delay until lowest PC init is active and then start action. Rogue: Opens the door (1 action), Seeks (1 action), and sees the enemies in plain view (no need for rolls), and as they seem to be enemies shoots one bolt for sneak attack (PCs are still unnoticed to enemies). Barbarian: Storms inside, seeks and chops head off an off-guard enemy.

And so one.

What I mean, until they are not noticed behind the door, PCs are unnoticed. And when they storm into the room, enemies still need automatical success seek action to detect PCs.

What about PCs VS Enemies Perception vs Stealth?

On one hand the enemies should roll for init (probably Perception), on the other hand they are not actively listen so active is PCs stealth and not Perception. So we take passive Perception DC as a result of whether enemies detected PCs or not and roll for initiative Perception separately?