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There are a couple ways that you can draw weapons as a free action, but I am unable to locate any core rules which allow you to sheathe weapons as other than a move action.
There is Path of War's Improved Quick Draw feat, which allows you to draw and sheath as part of an AOO.
There is the 3rd-party feat Quick Sheath.
But there are no magic items or feats that characters can take to obtain this ability. Have I missed a source somewhere or is there nothing?
Gloves of Storing: Storing or retrieving an item that can be held in one hand and weighs < 20 pounds as a free action.
Gun Twirling: As long as you have 1 grit point, holster a one-handed firearm as a free action.
Quick Draw + Combat Trick: As long as you have 1 stamina point in your stamina pool, you can sheathe a weapon as a swift action. Stamina is an optional rule system, so needs GM/group OK to introduce.
Quickdraw Shield: Swift action to put away combined with a regular move, if you have Quick Draw, put it away as a free action. Included because it could be considered a weapon if you bash with it.
There's also 2 levels in the Bard's Juggler Archetype for Combat Juggling (Ex). While not sheathing, so long as you are juggling fewer than 3 objects, the hand is considered free for things like somatic components. (This is based on the comment about needing this to cast spells as a summoner without always dropping everything).
Scabbard of Many Blades (5000 gp) plus Quickdraw lets you sheathe one weapon and draw another, as a single swift action.
Blink Back Belt (5000 gp) automatically retrieves and sheathes your thrown weapons (but only thrown weapons).
Mixed Combat is another Path of War feat (also printed in Ultimate Psionics, and a class-feature of Bushi archetype), which lets you sheathe as a free action. It's not restricted to AOOs, unlike Improved Quick Draw.
Signature Skill / Rogue's Edge: Sleight of Hand with 15 skill ranks lets you draw or sheathe a hidden weapon as a swift action.
Phantom Sun Stance (Path of War, Solar Wind discipline) lets you draw a temporary copy of a thrown weapon, while leaving the original in your sheath. Unlike Blink Back Belt, you don't have to actually throw it; you could pick a dagger or spear or anything else that's usable both as thrown and melee.
Spiritbound item quirk might or might not work. A generous interpretation might have it teleport back to your sheath whenever you drop it, and/or just be in your sheath whenever you want to draw it. But RAW doesn't specify on the granularity of action economy.
-2 Cursed Sword might or might not work. It's unclear whether it literally teleports to your hand when you try to draw something else, in which case you can drop the sword as a free action and then "draw" it from the floor as easily as you could draw something from your belt; or whether it's merely a mental compulsion that never expands your options.
Quick Stow could be that you seek. It allow you to sheath weapons and Quick Draw in the same move action, and it also work with the Two-Weapon Fighting feat. Meaning that you could fire with a Bow, and then move into melee sheathing the Bow and drawing two Short Swords in the same round.
