I've seen a hundred times in books and movies something like King deciding an insignificant land dispute between two peasants. Were medieval style rulers that accessible to the common people? It just seems like they'd have more important stuff to do. I can't call up Joe Biden to complain about my landlord. Or really anyone at even a mediocre level of government with any hope a real response of resolution.
"Medieval" describes a big place and a long time period, so there's always lots more to say, but I answered a similar question last year:
In short, for England and France, no, probably not.