Mordhau is now available to play on Steam and it comes with a lot of quite complicated combat mechanics.
Dung festering in the streets. Lack of proper plumbing. Plague. Nearly non-existent life-expectancy. Unending torrents of played-out Monty Python and The Holy Grail jokes. Those are the medieval times for you. Sounds like a pretty great place for a Sims game, huh?