1 adjectives to describe picaresque

The book is a harmless picaresque, a geste of innocent rogue-errantry; its place is with Lavengro and The Cloister and the Hearth, in that ancient, endless order of tales which link up age with age and land with land in the unaltering, unfrontiered fellowship of the road that kept the spirit of poetry alive through the Dark Ages.

1 adjectives to describe  picaresque