More can always be said on the subject, but the idea that Europeans didn't bath during the Middle Ages is a bit of a myth that arises on r/AskHistorians on a somewhat regular basis:

Regarding the Early Medieval time frame, u/BRIStoneman notes that most settlements were built on or near rivers and parish roles indicate that dying while bathing occurred. Progressing forward in time u/sunagainstgold discussed the role of public baths and how their reputation evolved in relation to cleanliness. Finally, u/Somecrazynerd discussed the focus on the cleanliness of undergarments and how you might be fined if your neighbors complained about smells emanating from your home!