When escaping Suchdol and you find Samuel captured, his dialogue changes based on who you just romanced before you left.
[Romanced Hans] "Everyone is counting on you. Godwin, Zizka... Young Capon..."
[Romanced Katherine] "Everyone is counting on you. Godwin, Capon... Katherine..."
[Platonic] "Everyone is counting on you. Godwin, Zizka, Capon..."
So no matter what, he canonically knows who you hooked up. He was waiting for Henry so they could leave. Considering Henry and Katherine have sex just out in the open, he probably just saw them. For Hans, when Henry was taking too long, Samuel probably went walking around looking for him and definitely heard some noises coming from Hans' room and put the pieces together.
But also regardless of any platonic or romanced route, Hans is always considered one of Henry's top priorities in Samuel's dialogue, no matter what. And I think that's beautiful. They really are soulmates <3













