On average, throughout Western Europe during the Middle Ages, people tended to regard as strangers all who just came from a neighbouring area. There would be cases of angst and hostility between groups of people belonging to different cities or villages for instance.
An example I can give you is inherent to the Italian cities of Center and Northern Italy during the XII-XV centuries period. Salimbene of Parma (1221-1288) recalls how in the city of Pisa, the merchants of Parma had their own quarter (or "fondaco" in Italian). In a similar manner, Filippo Villani recounts when, during the Ciompi (low-wage labourers in the wool industry) revolt in Florence of 1378, peasants and farmers whom had recently moved in from the countryside belonging to the city's state, were considered immigrants and foreigners and not as citiziens.
To a certain extent, being known in some way when approaching another zone within your own area would make a lot of difference. Being able to say: "I'm the nephew of Artaud, brother of Jerome, tailor of Soissons" when moving to Soissons from a village around it, meant having a connection to the social group you were approaching.
Surely some people would have not been greeted kindly for a variety of reasons - language first and foremost - but I wouldn't say that strangers were banished with pitchforks all the time.
A very important distinction, I'm afraid, must be considered on a geographical level, since in the aforementioned city-states, even coming from outside the city's walls but within the city's political area meant being an immigrant; whereas in the southern Kingdom of Sicily, these distinctions were less important: if a person was from Naples and chose to move to Palermo, it would have made little difference, because they were both cities within the same kingdom.
To sum it up, they would be xenophobe, on average, only towards those too different based on their cultural and political context, be they from another city or from outside the borders of their kingdom. Spanish people of the 1200s wouldn't shudder too much seeing an African caravan entering Toledo just like the Byzantines might consider French knights during the First Crusade as brutal barbarians, just like princess Anna Komnene tells us.
Sources:
Barbero, A. Benedette guerre: Crociate e Jihad, Laterza, Bari, 2009;
Salimbene da Parma, Cronica, Monte Università Parma, 2006;
Provero, L., Vallerani, M., Storia Medievale, Mondadori Education, Roma, 2016;
Vitolo, G., L'Italia delle altre città . Un'immagine del Mezzogiorno italiano, Liguori Editore, Napoli, 2015
While the answer here is excellent, I just want to chime in to recommend Miri Rubin's brand-new book Cities of Strangers if you're interested in a more detailed analysis than is possible on reddit. I haven't had a chance to read it yet, my academic book budget went to other places this year, but from reviews and a publicity event she did at a conference, it seems like a magnificent study into slightly more urbanized medieval communities.