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15c was a point where some Euro nations were able to field forces of sufficient size with sufficient training that they were able to consistently maintain formation against the enemies they happened to face, but I don't think it was pikes or squares that made the difference. 2/2
Yes to this - it's about cohesion and organization, but note effective heavy infantry both in ancient Europe (pre-Roman/Roman) and in the early Middle Ages. High/Late European Middle Ages is exceptional for the general poor quality of its infantry.
Feudalism was not particularly good at providing reasons for infantry to fight to the death.
I feel like the structural issues mattered at least as much as the individual motivation. If the monarch's putative armies are mostly levies from the vassals, which may themselves come from sub-vassals, it's hard to maintain a persistent and consistent professional core.
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