Are these three sentences worded properly?

In 1479 DR, a kenku assassin and spy named Corvus Nightfeather discovered Cephas’s lineage and devised a plan to rescue him from the Island of the Free. With the help of Corvus’s allies (the ranger Mattias Farseer and his pet wyvern Trill, the goliath Tobin, and the twin halfling rangers Shan and Cynda), the raid to free Cephas was successful. Once he was freed, Cephas agreed to travel with Corvus and the circus that he managed.