To start there is a very lucid account of what Hegel means by "freedom" including the relationship between Hegel's view and Kant's. This becomes more detailed in chapter 2 where Wallace contrasts the positions contemporary philosophers like Bernard Williams hold and how they relate schematically to Wallace's interpretation of Kant and Hegel. W argues that while many use Kant in their discussions though many misinterpret Kant, few use Hegel and it seems simply because he is not understood. But Hegel's version of Kant seems to be the more powerful view.

p. 14 Hegel argues that "I seem to seek a standard by which to assess my desires (Philosophy of Right 17-18), that finding such a standard would involve systematizing my desires in some rational way (19), "purifying" and "forming" them into a life that makes sense as a whole (19-20)...

W critiques both Hobbes and David Gauthier ("Morals by Agreement") on morals arguing that Hegel (as interpreted by W) is the better view. This includes a discussion contrasting social contract versus Plato and Hegel on justice. Plato: one's rational part is not doing its job. Aristotle discusses this also in the Nichomachean Ethics though it seems "only a minority of readers take him to be addressing this issue at all." P. 39