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You ponder and decide that the only way that you could get in and fight your way through is with the aid of a distraction. And your gaze falls on the horses.
You look through the saddlebags. It brings you some discomfort to rummage through the belongings of your fallen companions, it feels as if you were vandalizing a memory.
But you know that they would have wanted you to finish the quest, no matter what.
You don't discover a bell or anything similar, but you do find something in the alchemist's satchel; A burning tincture made from spices. Now you just need a little ingenuity.
You keep the two best horses at a safe distance, you will need them again later. The others you bind together so that it is inconvenient for them to move, then you slowly lead them closer to one corner of the Burg. You take the tincture, empty it into a piece of cloth and rub it under the tail of one of the horses. You barely avoid a kick from the animal but the plan succeeds. The horse starts jumping and making noise, causing the other ones bound to it to panic as well.
You disappear back into the bushes to make your way to the opposite end of the castle.