I fully believe that it was love, not fear that drove Sam on. Has nobody ever had a person in their life that they would be willing to die for? That they have given up things for? That they would be boiled alive for before they left alone to face the world? I don't know about anyone else, but I have. I have had people in my life that I'd cheerfully die for just so that they are able to continue their life. Even if they don't fully realize it. I believe that Sam loved Frodo that much that he was willing to go to Hell and back for him. I'm sure he was afraid, but fear is normal in situations like that. I think he just didn't want Frodo alone and without love in lands that he'd never seen, had only heard of.
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