Kingdom Come Deliverance 2: Reckoning - Where are the horses and how do I save Samuel?

You are tasked with infiltrating the camp of the Prague soldiers, besieging the Sukdol fortress, to find horses and get reinforcements with Samuel. This is the starting point in Kingdom Come: Deliverance 2. After you have climbed down the walls, you find that Samuel has not been waiting for you and is nowhere to be found. You have now been left with a single decisive goal: to find the horses and leave the camp to get help. The quest is considere…