Hello! There was actually a very similar question (though more focused on mounted charges) that I happened to get to first. I answered this HERE.

I also have a couple other answers that might interest you:

How realistic was Game of Thrones with respect to elite fighters coming from the aristocracy ?

I am a lesser noble in Western Europe circa ~1200, the King has just sent me orders to muster as many men as I can to join him on campaign, what do I do?

There is definitely always more that can be added to this conversation though! I'm pretty specific to one time period and place, so there's certainly more to be added from other specialties.