This question has been answered by pierrot1010. See the first response.
Look at the getResources extra and its &tvFilters property.
You can also use pdoResources, which is very similar and significantly faster, but not quite as well documented.
[[!Wayfinder? &startId=`[[*id]]` &level=`1` &sortBy=`unpub_date` &sortOredr=`DESC` &outerClass=`ul-stage` &levelClass=`level` &innerClass=`questIn` &hideSubMenus=`1` &rowTpl=`rowTplStage` &hereClass ]]
<li class="[[+wf.classnames]]"> <a href="[[+wf.link]]" title="[[+wf.title]]" [[+wf.attributes]]> [[+wf.linktext]] id: [[+wf.docid]]</a>, [[getResources? &parents=`[[+wf.docid]]` &includeTVs=`1` &processTVs=`1` &prepareTVList=`5`]] - [[ [[+wf.wrapper]] </li>
)[[!Wayfinder? &startId=`[[*id]]` &level=`1` &sortBy=`unpub_date` &sortOredr=`DESC` &outerClass=`ul-stage` &levelClass=`level` &innerClass=`questIn` &hideSubMenus=`1` &rowTpl=`rowTplStage` &hereClass ]]
<li class="[[+wf.classnames]]"> <a href="[[+wf.link]]" title="[[+wf.title]]" [[+wf.attributes]]> [[+wf.linktext]], <em>[[+stage_place]]</em></a> [[+wf.wrapper]] </li>