looking for cozy-ish medieval books w/ ensemble casts

is that too specific? maybe! i'm just craving stories with ensemble casts of lovable characters, with some degree of medieval vibes. that can be legit historical medieval (my fave!) or fantasy with medieval vibes. also, when i say cozy, i'm not defining that all that strictly–i just read a lot of medieval horror and that's not what i'm looking for rn. i can take or leave romance but unless it's either queer or the best love story you've ever read i'd prefer it not be the main focus. i love a found family dynamic, and i kind of love a story with a grumpy protagonist who reluctantly comes to care for his new people. is this anything???