I see a little bit of Sam in each of the main characters (Lambert, Grim, Sarah and Vic).
Sam and Lambert = They are professional ex soldiers who are dedicated to the mission at hand.
Sam and Grim = They use humor as a way of getting through a tense situation.
Sam and Sarah = They have a strong moral code and they do what they believe is right (For example: Sarah urging Sam to rescue Grim)
Sam and Vic = They believe in brotherhood and loyalty (For example: Sam refusing to believe Shetland is dirty, Vic rescuing Sam)
Redding is the only one I find hard to compare to Sam. But then again we never got to learn that much about him. We got to learn more about Vic than Redding to be honest.
I think Sam would do anything for his daughter just like she'd do anything for him. When she told him to rescue Grim he agreed but only after Sarah and Vic forced him to, I guess you could say. He was still gonna do it but he wanted to make sure Sarah was safe first. That goes to show that he's still a soldier who will do what he believes is right but only if there's no other circumstances.