Aalterdam X: Steppes of the Centaurs (D&D 3.5)

Prince Pietr lives in fear that assassins will hunt down his beloved children, the rightful heir-apparent to the throne of Aalterdam. He has entrusted you, an expert and loyal team, with the duty of escorting his daughter, the Princess-in-Waiting, to a safe haven where she may grow to adulthood, learn valuable lessons, and achieve her rightful destiny. Now all you have to do is get her there - across most of the known world.

The Aalterdam setting is a swashbuckling, Age of Exploration type world; this module emphasizes roleplaying and problem-solving.