The Scarecrow And His Servant by Philip Pullman

A living scarecrow springs from straw and dust into a roguish, quick-witted being who hires a down-on-his-luck orphan as his servant, and the unlikely pair set off on a rollicking chain of adventures — from rural mischief to the strange, sometimes dangerous streets of town — meeting eccentric characters, outwitting villains, and testing the limits of loyalty and courage; the tale mixes slapstick humor and sharp social satire as the odd friendship forces both to confront their flaws and grow.

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