If your keeping the tables a join would be best.
If you hate joins, you could combine the max and min managers, and even then it would work if there is always 2 managers and they can't have the same name.
the below should work if i remember how to join up 2 querrys correctly. but i would advise to see if it is possible to rework your table, have a seperate table linking people to eachother in a manager employee relation.
SELECT DISTINCT F.ID, F.Name, S.Manager, F.Manager
FROM (select ID, Name, MIN(manager) manager FROM Managers Group by ID, Name) F,
(select ID, Name, MAX(manager) manager FROM Managers Group by ID, Name) S
WHERE F.ID = S.ID
and S.Manager <> F.Manager
and F.ID < S.ID