My favorite medieval city-builders aren't historically accurate at all: namely Rimworld and Dwarf Fortress keep me coming back for more. I've never been a huge fan of 4x titles or real-time strategy, but the gameplay loop of these titles feels the most "authentic" to me. I think most people will agree, too: confining a role-playing game to the accuracy of non-fiction isn't much of a roleplaying game at all.