crooked > curved
4 Then forth the noble Guyon sallied,
sallied > went forth; or: leapt (via French saillir, as at 206.38:5)
5 And his sage palmer, that him governed;
governed > guided, controlled
6 But the other by his boat behind did stay. 7 They marched fairly forth, of naught adrad,
adrad > frightened
8 Both firmly armed for every hard assay,
assay > trial; endeavour; assault
9 With constancy and care, gainst danger and dismay.