Here are a few suggestions. They are mostly here to make you reflect,
and may not be right.

>S�mr haf�i ok fj�ra tigu manna. Var �at li� vel b�it at v�pnum ok hestum.

Sam also had forty men. That group was well equipped with weapons and
horses.

"equipped" sounds phonetically similar to "b�it".

>Eptir �at r��a �eir alla ina s�mu lei�,

After that they ride all in "single-line formation",
or
After that they ride back the way they come.

"i samma led" is a military term still in use in Sweden.

>�� spyrr �orgeirr, hversu m�tti helzt � �vart koma.

Then asks �orgeirr, how might preferably (Hrafnkell be) taken by
surprise.

"Helst" is still in use in Swedish, meaning preferably.

>S�mr kvazk mundu kunna r�� til �ess.

Sam said (he) might be able to advise on this.

"r�da" is old Swedish for "give advice".

>�eir skutu stokki � hur� ok hlupu inn.

They pushed the bar on the door aside and ran inside.
or
The rammed the door with a ram and jumped in.
you decide youself.

>Af �v� ok heim � sk�lavegginn var skotit v���si einum.

From it to the main house was a clothesbeam.

But don�t listen to me. I only have Zoega and a Swedish upbringing. (c:
J�ran Omark