You probably will arrive at Odawara station by Shinkansen.
From Hakone Yumoto Station go to Gora Station at Hakone Tozan Railway. (Maybe there are times when you do not need to transfer)
I go from Gora Station to Sounzan Station by cable car.
From there, you went to Owakudani by ropeway and then to Tougendai.
You moved from Kojiri by boat and headed to Moto-Hakone.
Take the bus from Moto-Hakone and go to Tenzan onsen.
Perhaps this is the shortest route.
Because it is hard to buy tickets every time, it would be better to buy a Hakone free pass.
It is 4,000 yen in 2 days, but since the pirate ship is 1,840 yen and the ropeway is 2,410 yen, it is cheap in total.
You can buy it at the Odawara station vending machine.
Next to Odakyu Line on the Odakyu Line there is a tourist information office where there are people who can speak English.
The shuttle bus in Tenzan Onsen seems to have no fee included in this. (100 yen.)