More can always be said on the matter, so if anyone has more input they wish to add, feel free to do so! In the meantime, the answer is, yes, they did. Here's three answers that cover Medieval hygiene across the period:

• u/BRIStoneman covers the topic of bathing, for the Early Medieval era;
• u/sunagainstgold covers the topic of bathing in the Late Middle Ages;
• and u/Somecrazynerd examines bathing and attitudes to hygiene in a general Medieval sense.