So the sentience is "It's hard to find a good path to taking this mission on", I wonder why it is "to taking it on" not "to take it on", is "taking" using as a gerund? Can I say "It's hard to find a good path to take this mission on"? What's the difference?
"... find a good path to take this mission on" would describe the physical route you're taking the mission on, like walking a dog, if you delve into it too literally. Otherwise it would describe the path the mission would be taken through, the way the actual mission would be handled.
"... find a good path to taking this mission on" describes the path to how the mission initially be approached; it's more about the action of 'taking on the mission', the acceptance of the mission in the first place.