One tool to help with that is called a submarine swap:

Lightning Network Submarine Swaps #77400 https://darthcoin.substack.com/p/lightning-network-submarine-swaps

Boltz uses submarine swaps:

Boltz, privacy first, account-free crypto exchange #6420 https://boltz.exchange https://medium.com/boltzhq/submarine-swaps-c509ce0fb1db

But I don't know of any way to do a submarine swap starting with just a private key or a seed phrase. You could combine the sweeping of a private key using something like Samourai wallet (which can scan a QR code), and then sweep those funds to the address provided by Boltz (which will do the submarine swap that pays the invoice from your LN wallet.

Now you specifically referenced "trust less or trust minimized way". That does not describe the methods listed in the following post, but that post does show other convenient methods for transferring bitcoin via LN:

Various methods for gifting bitcoin where funds for unclaimed gift are returned #76534