Nadaar, Selfless Paladin

Vigilance
Whenever Nadaar enters or attacks, venture into the dungeon. (Enter the first room or advance to the next room.)
Other creatures you control get +1/+1 as long as you've completed a dungeon.

Sefris of the Hidden Ways

Whenever one or more creature cards are put into your graveyard from anywhere, venture into the dungeon. This ability triggers only once each turn. (To venture into the dungeon, enter the first room or advance to the next room.)
Create Undead — Whenever you complete a dungeon, return target creature card from your graveyard to the battlefield.

Imoen, Mystic Trickster

Ward {2} (Whenever this creature becomes the target of a spell or ability an opponent controls, counter it unless that player pays {2}.)
At the beginning of your end step, if you have the initiative, draw a card. Draw another card if you've completed a dungeon.
Choose a Background (You can have a Background as a second commander.)

Hama Pashar, Ruin Seeker

Room abilities of dungeons you own trigger an additional time.

Zalto, Fire Giant Duke

Trample
Whenever Zalto is dealt damage, venture into the dungeon. (Enter the first room or advance to the next room.)