Corrected entry: Pullo falls asleep while he's on guard. Soldiers who fell asleep on their guard were sentenced to death. Yet Vorenus, who is a very by-the-books man, only gets annoyed. A centurion would have executed the soldier in question.
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Correction: That's a character choice, and not necessarily a plot hole. In this case, Vorenus would have no opportunity to have placed Pullo under arrest or have him tried before returning to camp, and much can have happened to make him overlook this fault in the meantime. They have won a battle together (against overwhelming odds), they have accomplished their "impossible" mission, and return as heroes with Caesar's newly-rescued grand-nephew.
Twotall