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Faction parties will regularly attack any caravans that belong to their enemies, so it is quite common to find a faction party carrying a few Caravan Guards.
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You can also rescue them from parties that have destroyed caravans or bandits who have taken Farmers as prisoners.
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Troops from the mercenary line are most easily found in taverns, but they can also be acquired by attacking caravans and then convincing the surviving Caravan Guards to join you.
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