Advanced air mobility aircraft require energy-efficient flight plans to be economically viable. This paper defines minimum-energy direct trajectories between waypoints for [Formula: see text] electric vertical takeoff and landing (eVTOL) aircraft. Energy consumption is optimized over accelerated and cruise flight profiles with consideration of mode transitions. Because eVTOL operations start and end in hover for vertical takeoff and landing, hover waypoints are utilized. Energy consumption is modeled as a function of airspeed for each flight mode, providing the basis to prove energy optimality for multimode traversal. Wind magnitude and direction dictate the feasibility of straight-line traversal because [Formula: see text] aircraft point into the relative wind direction but also have a maximum heading-rate constraint due to finite yaw control authority. Energy and power use for an experimentally validated QuadPlane small eVTOL aircraft are characterized with respect to airspeed and acceleration in all flight modes. Optimal QuadPlane traversals are presented. Constraints on acceleration and wind are derived for straight-line QuadPlane traversal. Results show an optimal QuadPlane 500 m traversal between hover waypoints saves 71% energy compared to pure vertical flight traversal for a representative case study with a direct [Formula: see text] crosswind. Energy-optimal eVTOL direct trajectory definition with transitions to and from hover is novel to this work. Future work should model flight in three-dimensional wind and optimize maneuver primitives when required.