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For something more focused on warfare, "The Art of Warfare in Western Europe During the Middle Ages" by J.F. Verbruggen is a classic. It goes into a lot of detail about medieval military tactics, how battles were fought, and the role of knights and foot soldiers. Another good one is "The Knight in History" by Frances Gies, which covers the evolution of knights and chivalry.

If you're looking for books about the Middle Ages, I recommend checking here - https://booksrun.com/blog/10-top-medieval-historical-fiction-reads/. There's a great selection of the best historical novels on the subject. For example, Ken Follett's The Pillars of the Earth is a masterpiece, especially if you want to immerse yourself in the atmosphere of medieval England. The book tells not only about the lives of ordinary people, but also about the construction of a huge cathedral, the complexities of the time, politics, wars and faith. I also recommend ‘The Name of the Rose’ by Umberto Eco, it's not just a detective, but a great depiction of life in a monastery in the fourteenth century. I myself recently read Noah Gordon's ‘The Surgeon’, a terrific story about medieval medicine. Anyway, save the link, there are a real lot of cool books out there!