noun
a journey or quest, especially one undertaken in search of adventure or knightly deeds
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The knight embarked on a quest of errantry to vanquish the dragon terrorizing the village.
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The adventurer set out on a journey of errantry to explore the uncharted lands.
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I heard Jake is into some errantry stuff, like going on crazy adventures and all.
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Her mind wandered into the errantry of imagination, creating fantastical worlds in her stories.