Y'know, while reading I subconsciously gave Sam the voice of James Kidd from AC4. I didn't really know why, just the vibes I guess. But after getting deeper into the story, it turns out I was spot-fucking-on, good shit.
So far, I've only settled on voices for some of other characters.
Arthur is Haytham Kenway
Wolf is Edward Teach (Blackbeard)
Torres is Julien Du Casse
Konrad has a basic Khajiit voice
Rajeeyah has the voice of Dr. Amari from Fo4
Other than that, most of the other crew have the voices of the generic British soldiers/sailors from the few AC games that featured them.