In many fantasy games, the main character is an adventurer or a traveler who wanders around the world doing 'quests.'

Was this the case during medieval times? Were there 'adventurers,' and if there were, what were they called and what did they do?

If there wasn't anything such as an 'adventurer,' what's the closest historically common alternative?

For this case, let's assume an adventurer is someone who travels around having adventures (or journeys, hikes through the wood, meeting new people and going new places, you get the general idea) or even goes around helping others for money/goods.

One more thing: What are some real life examples of 'quests' (if any exist)?

I appreciate every answer to my question; I'm really curious about this!