Ars Magica the RPG was set in a low-fantasy version of Europe, you had three different characters you could play during a story - a magus of the Order of Hermes, a companion of the mage's covenant (knights, scholars, churchmen and other important people), and one of the "grogs" who lived and worked at or around the covenant - peasants, maids, men at arms and thieves. It certainly wasn't an accurate depiction of the Middle Ages, but it came a lot closer in trying to make the setting more historical, and on top of that make it so that being more historical was an integral part of the game.