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Well a lot of knightly warfare was burning the other side's villages....
True, but because you are raiding another military aristocrat's village, the chance of finding yourself in a 'small' engagement is meaningful. That engagement would also generally take place with both sides mounted.
But the emphasis for aristocrats is overwhelmingly on mounted combat. They have other people - mercenaries/ the sergeantry - to fight on foot. Situations, like Agincourt, where most of the knights are dismounted, are exceptions, not the rule.
Random question: why anti cavalry pike formations develop so late? Is it a matter of training? Or innovation?
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