Sentence:  More than a beautiful visualization of the illustrious adventures and escapades of the tragi-comic <WSD>knight-errant</WSD> 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 wandering knight travelling in search of adventure