Okay, let's get an encounter going. A few quick notes:
The land goes downward to the south-west (down on the map) and steeply upward to the north-east (up on the map). It's a steep climb up to the road from where most of you are. My intention is that you have to travel along under that grey cliff (moving toward the right on the map) and then switch-back above it behind the boulder that Dandin, Escella, and two of the guards are behind. Yes, that puts Vairar in the back (punishment for the lowest roll, I guess). Does that make sense?
I'm giving you Surprise, so none of the orcs will act this round. I suppose it's possible that everyone could conceivably take actions that still won't alert them, but as we're moving into combat-rounds, that would take actually taking the hide action on your turn (no free Stealth anymore, action-economy-wise - you still have +10 to the check, though.) So if you want to Hide, go ahead, but it follows the usual rules (by which I mean, you must move into a place that has cover and take the Hide Action on your turn). The good news is, most places anywhere near you can provide cover - the bad news is it's pretty much all Difficult Terrain as well.
All the orcs that are currently on the map can be easily spotted if it makes sense for you to be somewhere that can spot them (obviously you can't see anything at all from where Darfin is at the bottom of the little cliff, for example) and the ones in the top-right corner are both in shadows, and behind a lot of bushes, but they're talking (they're not saying anything interesting at the moment, if you understand orcish).
All this is to say, if you think your character has a reason to be aware of any orc on the map, then I agree - that character is aware of that orc. Use your judgement about it. I trust you. After I see what you all do, I'll decide if/when the orcs become aware of you. It all depends....