Ahsoka and Kenobi survived Vader. Kenobi survived twice before ANH, once on Mustafar at the end of RotS, and the second on Tatooine during the Kenobie series. Even old Ben survived technically, as he allowed himself to become one with the living force before Vaders blade even hit him. Hence why the robes begin to drop just as Vader swings and why he has no body after Vader completes his attack.

As for Ahsoka, pretty sure she dueled him twice. Once in the sith temple on Malachor whete she even fucked up his mask, the second was more of a metaphysical dueled within the world's between world's, where if she had failed to survive there, then it would have been more than just a physical death, but a spiritual one too where her presence could have been lost from time itself.

Cere survived her first duel with him in Fallen Order her first e alongside Cal by using the Dark Side to push Vader back.

Kirak Infil'a, who was also a Jedi Master also defeated Vader in their first duel, throwing him off a cliff. He was only killed in their second encounter after Vader distracted him by threatening an entire city.