Count of the Saxon Shore by Alfred J. Church
The hero of this book is a Roman-British naval commander in charge of keeping pirates away from the British Isles near the turn of the fourth century. During his watch, the empire is beginning its final collapse. The legionnaires leave Britain, the provinces are left to govern themselves, and eventually he is told to abandon his post. From that point the Celtic Britons are left alone to battle the Scottish Picts and Saxon invaders by themselves.
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