Title Escape
Objective Escape a town or castles dungeon by stealing the key of the prison guard when he brings you food, retrieve your gear from the jailer (found in the marketplace to make it harder with guards around) by knocking him unconscious, steal a horse by killing the horse seller (or get your horse back if you have one) kill the guards by the gate and escape the town.
Rewards +Relation with your lord, you don't have to wait so long to get out of prison +renown.
Consequences for failing You have to wait longer to get out, you are hurt when you leave (due to Whippings and days in the stocks).
note this quest would come at random when in prison like how messengers can arrive at your camp in some mods(not sure about native).
Title Infiltration
Objective Your lord wants you to serve in an enemy army and for one month and find out what you can about them to do this, request personal leave, join an enemy army fight with them for one month, then desert/revolt, rejoin your lord's army and talk to him to finish.(fail by being captured by another lord)
Rewards Equipment from the rank you got to in the enemy army, + Relation with your lord, -Relation with enemy lord, Troops from enemy army, gold, +Renown, Small loss of Honour.
Consequences for failing Massive loss of honour, Loss of gold, -Relation with your lord, being captured, go down in rank in your lord's army.