If you're aiming for the best ending in *Kingdom Come: Deliverance 2*, completing certain tasks is crucial, and one of those tasks is saving Sam. Knowing where to find Sam and how to rescue him is essential for achieving perfection in the game.
Rescuing Sam During "Reckoning"
As you approach the end of the main quest line, you'll discover that Sam is being held captive at Praguer's Camp, captured by Brabant. Your opportunity to save him comes during the main quest "Reckoning." You can't simply stroll into the camp and free him; instead, you'll need to choose between stealth or violence to infiltrate the camp.
To move around the camp without arousing suspicion, you'll need a guard's outfit. You can obtain one by killing a guard and stealing it, then hiding the body, or by looting one from the numerous chests scattered around the camp. Once you have the outfit equipped, you can freely explore the camp in search of Sam.
When to Rescue Sam
After freeing Sam, it's not yet time to escape the camp with him. He'll inform you about von Aulitz, who is also in the camp. It's advisable to deal with von Aulitz first, then find a horse, and finally return to Sam to get him out of the camp. Sam can wait safely while you complete these tasks, and this order makes the process smoother since you'll need to carry him to the horse.
Von Aulitz is located in the main part of the camp. Wearing the guard outfit allows you to enter his room without being stopped by the guards at the door. Upon finding von Aulitz, you'll see he's already dying. He requests a dignified death, which is the most honorable choice you can make. Alternatively, you can kill him brutally or leave him to die slowly. Interestingly, leaving him to die actually contributes to the best ending.
Once you've dealt with von Aulitz, your next steps are to retrieve Sam and find a horse. Sam will still be in the barn where you left him. If a guard questions you about moving him, simply say you're handling the body, which will dispel any suspicion. Head towards the camp gates, exit, and then turn right to follow the perimeter of the camp.