I have seen a lot of books that feature sieges but it's not really the main focus as much. Like, just a segment of the story.
But I'd like a story that is about a whole siege or a series of historical battles as the main focus but obviously still has mcs, side characters and whatnot.
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Not medieval but Napoleonic. You should check out the Aubrey-Maturin series by Patrick O’Brian. Exactly what you’re looking for except not medieval. They’re my absolute favorites.
The Sharpe series by Bernard Cornwell is focused on the Peninsular Campaign of the Napoleonic War so it’s not medieval. Many of the books however center on siege warfare (e.g., Sharpe’s Company, Sharpe’s Prey).
This is not precisely what you want, but Pillars of the Earth and its sequel are in the timeframe and have some military component