Hōjō Ujiyasu
He was defeated by Hōjō Ujiyasu at the 1564 second battle of Kōnodai; his father, Satomi Yoshitaka, had been defeated by Ujiyasu's father, Hōjō Ujitsuna, in the first battle of Kōnodai in 1538. Yoshihiro also commanded forces in the 1567 battle of Mifunedai in which the enemy commander, Ōta Ujisuke, was killed.