This paper is devoted to the extension of the regret lower bound beyond ergodic Markov decision processes (MDPs) in the problem dependent setting. While the regret lower bound for ergodic MDPs is well-known and reached by tractable algorithms, we prove that the regret lower bound becomes significatively more complex in communicating MDPs. Our lower bound revisits the necessary explorative behavior of consistent learning agents and further explains that all optimal regions of the environment must be overvisited compared to sub-optimal ones, a phenomenon that we refer to as co-exploration. In tandem, we show that these two explorative and co-explorative behaviors are intertwined with navigation constraints obtained by scrutinizing the navigation structure at logarithmic scale. The resulting lower bound is expressed as the solution of an optimization problem that, in many standard classes of MDPs, can be specialized to recover existing results. From a computational perspective, it is provably $Σ_2^\textrm{P}$-hard in general and as a matter of fact, even testing the membership to the feasible region is coNP-hard. We further provide an algorithm to approximate the lower bound in a constructive way.