There are two prisoners in the ruined building. As you approach, sneak around from the left side to find an opening. The two prisoners will be on the second and third floors. Go for the ones in the building first, as dallying around will result in them getting executed by the enemy soldiers. To make things easier, you can also order D-Dog to kill enemies in the building, or just tranquilize them as you make your way through.
The third prisoner is in a container just outside of the ruined building. You’ll have to pick the lock to get to him inside. Once you’ve hoisted him over your shoulder, simply exit and run off far enough where the soldiers won’t spot you before extracting him out. Once you’ve extracted all three soldiers from the first outpost, you can call in the chopper to exit the area. You don’t have to complete the entire main mission to get your transportation specialist.
And there you have it. Now you’ll be able to develop the upgrade for the Fulton Recovery System. This will allow you to extract tanks, jeeps, and other armored vehicles, which will be handy for protecting your FOBs and for certain Combat Deployment missions.