Here’s my translation

Alan

Sjóðr vandaði um þat, at Herrauðr gaf Bósa klæði af sér, því at hans váru jafnan í sundr rifin. 
Sjóðr complained (vanda, Z3) about that, that Herrauðr gave Bósi clothes of his (ie Herrauðr‘s)-own, because his (ie Sjóðr‘s) were always torn asunder.

Bósi þótti ok harðleikinn, ef hann var at gamni með þeim, en engi þorði um at vanda fyrir Herrauð, því at hann mælti allt eftir Bósa. 
Bósi seemed also playing-a-hard-game (overly-aggressive), if he was at sport with them, but (and) no-one dared to complain about (it) in-front-of Herrauðr, because he took Bósi’s part (lit: spoke after, in support of him) completely.

Nú beiddi Sjóðr, at hirðmenn skyldi lemja hann ór leik.
Now Sjóðr requested, that (the) king’s-men should thump him out-of (the) sport

3. Herrauðr fór í hernað með Bósa.
3. Herrauðr journeyed in harrying with Bósi.

Þat var nú eitthvert sinn, at hirðin hafði soppleik, ok léku menn með kappi miklu, ok gerðu þeir nú leik til Bósa, en hann tók hart í móti, ok gekk hönd ór liði á einum konungsmanni. 
That was now a certain time, that the-king’s-bodyguard had a ball-game, and (the) people (men) played with great zeal, and they now ‘targeted’ (I think makes more sense than ‘mocked,’gera leik til e-s, leikr, Z1) Bósi, but he offered firm resistance (taka í moti, Z12), and (he) forced (the) hand (ganga + acc, cf Z13) out of (its) joint (liðr) in one king’s-man (ie he dislocated one king’s-man’s wrist).

Annan dag braut hann fót í öðrum. 
(The) next day he broke (the) leg of another (king’s-man)

Inn þriðja dag veittust at honum tveir menn, en margir óþægðu honum. 
(On) the third day two persons (men) banded-together against him but (and) many vexed (‘hassled’?) him.

Sló hann þá augat ór einum með soppinum, en annan felldi hann, ok brotnaði hann á háls. 
He struck the-eye out of one with the-ball, but (and) he felled (the) second, and he (ie the second man) suffered a broken neck (lit: he was-broken in (the) neck).

Hlupu þeir þá til vápna ok vildu drepa Bósa, en Herrauðr stóð hjá honum með þá menn, sem hann gat fengit, ok var búit við sjálft, at þeir mundu berjast, áðr en konungr kom til. 
They ran then to (their) weapons and wanted to kill Bósi, but Herrauðr stood by him with those persons (men), whom he was-able to get, and (it) was on the very point (seems a combination of búinn við e-u and er við sjálft), that they would fight, before the king came up (ie arrived).

En fyrir tillögu Sjóðs gerði konungr Bósa útlægan, en Herrauðr kom honum undan, svá at honum varð eigi nát.
But (And) by reason of (the) advisory-contribution of Sjóðr, (the) king made Bósi outlawed, but (and) Herrauðr brought (koma + dat, Z3) him away (ie helped him escape), so that no-one could get hold of him (lit: (it) became not gotten-hold-of for him)

Litlu síðar beiddi Herrauðr föður sinn at fá sér herskip ok röskva menn til fylgdar, því at hann lézt vilja ór landi ok afla sér meiri frægðar, ef þess verðr auðit. 
A little later Herrauðr asked his father to get for himself a warship and brave persons (men) for followers, because he declared-of-himself (látast) to want (to go) out-of (the) country and to gain for himself more renown, if (it) was destined for that (ie if that was his destiny).

Konungr bar þat mál fyrir Sjóð, en hann kveðst ætla, at sneyðast mundi féhirzlurnar, áðr en Herrauðr er svá heiman gerr sem honum líkar. 
(The) king bore that matter before (ie he raised the matter with) Sjóðr, but (and) he (ie Sjóðr) declared-of-himself to expect, that (one, ie the King?) would be-bereft (deprived) of the-treasury, before Herrauðr is as ready (to go) from home as it pleases him (ie Herrauðr´s extravagant preparation for the voyage would empty the king´s coffers, if Herrauðr was allowed to proceed unchecked).

Konungr sagði, at þeir skyldu við þat leita, ok varð svá at vera sem konungr vildi, ok var nú búin ferð Herrauðar með miklum fékostnaði, ok var hann vandr at öllu, ok kom þeim bræðrum lítt saman. 
(The) king said, that they should proceed with (?)  that, and (it) so happened to be as (the) king wanted, and (the) journey of Herrauðr was now prepared with great expense, and he was particular (vandr, Z3) about everything, and those brothers agreed little (lit: little came together for those brothers, koma, Z4)

Hafði hann fimm skip ór landi, ok váru þau flest öll forn. 
He had five ships out-of (the) country, and they were almost all old.

Vaska menn hafði hann með sér ok mikit fé í gulli ok silfri, ok sigldi hann nú burt af Gautlandi ok suðr til Danmerkr.
He had (took) brave persons (men) with him and much money in gold and silver, and he sailed now away from Gautland and south to Denmark.