For the rogue walking into combat, whether the hobgoblins allow him to get close is going to depend on how well he can convince them he is on their side. First, does he speak hobgoblin? Can he mimic the body language and attitude of a hobgoblin? Does he know their battle calls and codes? Does he know the names of other hobgoblins they might trust?
I'd say that unless the answer to some of these is "yes" then the wizard's guards are just not going to trust the newcomer.
After all, let's turn it around. The PCs are fighting a bunch of hobgoblins and a strange human walks up to them. None of the PCs have ever seen this person before. Are they going to instantly trust him and let him walk up to the wizard?
On the other hand, if the strange human comes walking in and says "Guys, <the party's employer> sent me to help you out, he was worried you might need an extra hand since your wizard was wounded after the troll fight!" then the chances of acceptance are a lot higher.
So, time for a deception attempt, maybe combined with a knowledge roll.
Also, there is no surprise round in 5E. Surprise is just something that might happen to a combatant on their first turn of combat.