Sentence:  More than a beautiful visualization of the illustrious adventures and <WSD>escapades</WSD> of the tragi-comic knight-errant and his squire , Sancho Panza , in seventeenth century Spain , this inevitably abbreviated rendering of the classic satire on chivalry is an affectingly warm and human exposition of character . 
Meaning of the word marked with <WSD> tags:  a wild and exciting undertaking (not necessarily lawful)