Medieval Fantasy/Adventure. Prince with Clubfoot exiled?

I read this around 2005ish. Young adult novel I think. I remember one scene vividly.

The young prince and his companions are on the run for some reason. He has a clubfoot and need to put a woodblock into his boot in order to walk but he is still too slow. To heal the princes clubfoot they had a wizard help. During the healing ritual, the prince had a vision that he was standing on a seaside cliff above sharp rocks. The wizard told him to jump to his doom and after some convincing he does and he feels his body break against the rocks. He then finds himself on top of the cliff once again with the wizard and the wizard tells him to do it again. He then does this over and over, enduring the agony of death until he finally wakes up. It is the next day and his foot is healed. His travelling companions say the healing took the whole night and that although he was unconscious, he was screaming in pain the entire time. That is all I remember.

I think you may be describing The King's Buccaneer

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