Novel with medieval setting and knights(or other associated soldiers of the period) and battles.

I have been on a bit of a binge with the medieval period lately but can’t quite scratch the itch. I have been watching The Last Kingdom (acknowledge it is based on a book series) and Vikings: Valhalla and playing Thrones of Britannia but those are all early medieval/Dark Ages. Looking for some literature to scratch the itch of a High or Late Medieval Period with castles and knights. And it doesn’t have to be entirely realistic. Some degree of magic is fine, though I don’t want it to be the largest part of the story.

I enjoyed the first of Bernard Cornwall’s Sharpe series and know he has a book on Agincourt and a trilogy set in the Hundred Years War. I have been eying S.M. Stirling’s Emberverse series which has a regression to medieval level technology. I also have The Once and Future King and the A Sing of Ice and Fire series at home. So any suggestions anyone might be able to give would be appreciated.