The famous KGL Hussar is mentioned in many memoirs and I have managed to get his career details through works by Beamish etc, including stories about his lost dog but there's a detail I have not been able to tie down. When did he join the Allied forces in North Germany. Soem accounts put him as present (with the 3rd Hussars KGL?) in the battles of the Pyrenees in July 1813 and then at the battle of Gohrde in September 1813 but others indicate he joined the staff of Bernadotte in October 1813.
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There is a publication by Poten about Krauchenberg:
Poten, B. v. Ein Reiteroffizier vor hundert Jahren (Georg Freiherr v. Krauchenberg). Beiheft 8/9 zum Militär-Wochenblatt, 1907, pp. 327-346
The years 1813-1815 (battles etc.) start here: https://archive.org/details/beihefte-zum-militar-wochenblatt-1907/page/341/mode/2up
Inded was Krauchenberg transferred into the 3rd Hussars KGL on 23rd June 1813, moved - with the 3rd Hussars - to Northern Germany in the second half of August 1813 and served in General Wallmoden's staff, where he participated in the encounter of Sehestedt (10th December 1813).
Regarding Waterloo, Krauchenberg was detached with 3 hussar companies (so he missed the battle) and returned to his regiment as late as 20th June 1815.
Hope that helps & best regards,
Thomas