The Squire's Tale by Gerald Morris
Gawain of Orkney doesn't need a squire. He's yet to make it to King Arthur's court to be knighted, and if he does need a squire later, he has a few brothers in the hinterlands who will do. For his part, Terence was perfectly happy taking care of his foster father, the hermit Trevisant. He was a kind boy and an excellent cook, though granted a bit confused at present. Just recently the trees had started talking to him.
The Merlin Conspiracy by Diana Wynne Jones
Being a permanent part of the King’s Royal Procession isn’t all it’s cracked up to be, particularly when the realm’s magic depends on him tromping up and down the countryside to keep the Isle of the Blest blessed.