The Candle of Distant Earth(2006)

Alan Dean Foster

Human Marcus Walker leads speech-augmented mutt George, cephalopod Sque, and gigantic poet Barouk homeward. Peaceful rodent-like Hyffians ask for arms against invading Iollth. At each planet, they must prove their "civilization", whether by poetry or battle, and ask directions onward. The last combat faces the original alien Vilanjji Pret-Klob.