Ohler's The Medieval Traveller would be a good book for you.

In the Middle Ages, most people never travelled more than a day from their home village. People didn't take off for vacations. So most never had to worry about travel.

The travellers were merchants, envoys (people on diplomatic missions), and pilgrims. If you were itchy-footed, you could become a life-long pilgrim, travelling from Campostela to Cologne to Rome, and maybe to the Holy Land. Think of how the jolly crew in The Canterbury Tales are a group of pilgrims. Clubbing up like this was ordinary, because there's safety in numbers. Yes, there were bandits.

The Middle Ages is generally accounted about a thousand years. Naturally, things changed, and it varied from country to country, too. In the early period, there was much less travel, except envoys who might be going between Aachen and Damascus with their own small army and pack train, setting up camp every night.

The givers of hospitality in those days were the monasteries, all of which had guest houses. The poor traveller could get a decent hot meal and a bed in a dormitory for the asking, and good behavior.

Some of these guest houses evolved into inns, especially if they were on the road and away from the monastery. The abbots turned the running over to a leasor, who now charged for that bowl of bacon beans and 1/4 of a straw bed. Other inns grew up on their own, wherever there was enough traffic to warrant the investment.

In traditional Ireland, the lords would provide free guest houses, whose master was to send men out to crossroads and otherwise make sure no traveller missed them. They were always heavily provided with boiled and roasted meats, several kinds of ale, and decent beds. They were also in charge of providing food and care to the elderly, especially when not mobile.

Merchants were the making of the inns. Don't think of them all like Marco Polo, travelling huge distances. Many travelled a short track from one exchange point to another and back, year after year. The Great Fairs of the Middle Ages drew thousands to buy goods from the producers or large-scale importers to take home to sell (Gies covers this in Life in a Medieval City, set in a city of one of the Great Fairs). So they might travel from London to Tours to buy or sell.

Also, pilgrimages had become a kind of business. The Pilgrim Trail to Campostela became very well-developed, with inn clusters to suit all pockets about a day's travel apart. Some people organized pilgrimage groups along it.

Someone going across wilderness would just pack bread and meat in his budget (food bag) and roll up in his cloak to sleep, if he did not have an entourage.

Translators are another matter. They cost money. Of course an envoy would have several, and one thing you could get for your pilgrimage group would be one, if you just didn't find a fellow pilgrim who spoke enough to get by. Poor travellers played charades. This was another good reason not to travel.

Legend has it that certain contingents of the First Crusade, on reaching Hungary, could not communicate, so they decided these people must be Saracens, since they spoke no "Christian tongue," and started slaughtering villages. This resulted in battles between the local lords and the Crusaders, and the King of Hungary nearly went to war to get the Franks to go around rather than pass through his lands. So people often didn't even think of translators.