Chillin in My 30s after Getting Fired from the Demon Kings Army (Kaiko sareta Ankoku Heishi 30-dai no Slow na Second Life) - Season 1, Episode 02: Dariel Works His First Assignment as an Adventurer.
Trailer
A hero's son, Dariel, was kidnapped and raised by his demon lord enemy to be his subordinate. But when Dariel is thrown out, he must find his own way to his own place in the world.