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Not sure if they get anywhere as much as when fighting in your fort.
A commander with a high level in that skill will get a lot of bonuses for his team in missions, especially if the team in question is skilled for what the mission involves.
Since you can also steal stuff from enemies, you can get new animals and books that way while they "train".
For example rangers good at sneaking around are better for missions where fighting isn't the goal but fully geared warriors tend to do better when it comes to fighting missions.