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You might look into historical fiction. Good historical fiction is based on facts. Most medieval stories will include most of the characters you mention. You can actually find a lot of them in Shakespeare, but I'm not sure that is what you are looking for.
Perhaps the best monarch of this era to research is England's King John who was forced to sign the Great Charter; otherwise known as the Magna Carta. In the year 1215 the Barons forced the King to agree to this document that provided them their minimum and/or basic rights and liberties. The vast majority of the language in this document deals with land rights based upon estates being handed down from family member to family member. This document is considered to be the first to outline human rights and ownership. It is the frontrunner to the English Bill of Rights in 1689, the Declaration of Independence and the the United States' Bill of Rights.
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