You can only free friendly slaves when they are hanged on wall with collar or trapped on wall.
They'll just go nowhere until they're caught, is it possible to somehow remove the debuffs from them?
I remember that you can throw cure potion for removing abnormal states but not sure for restraints.
Hmm did I made the lockpick able to use for them? Like, getting close and pressing it, the list shows for their restraints.
It was in my note but I randomly delay.
Maybe I did...? Sry not sure.