TL:DR version-- a mix of the computer game "Majesty" and the novel "The Once and Future King" by T.H. White.
In "OaFK", the real kings of history (Richard I, Edward I, etc.) are considered legendary, while the reigns of King Uther and King Arthur are history. Uther replaces William of Normandy in the novel as "the Conqueror", and rules from A.D. 1066 until his death in A.D. 1215. Arthur pulls Excalibur from the stone in that year, proving he is the rightful king, and reigns until 1485. The Battle of Bosworth Fields is fought between Kinng Arthur and his nephew Mordred.
There is a lot of potential here, both in Uther's reign, which is a time of Force Major--"Might makes Right"--and Arthur's, which focuses on his mission to end Force Major. He establishes the Order of the Round Table to accomplish this goal, but in the HRR, he also reorganizes the informal Adventurers' Guild system that existed since before Uther's time, in order to assist.
The Normans in this campaign setting are represented by Eladrin (Arthur and Lancelot and Guinevere and the KotRT are all Eladrin). Elves are the Welsh, Dwarves are the Anglo-Saxons, and Halflings are the Irish and Scottish. Humans are a mix of all races, except Norman. Dragonborn are the soldiers and servants of the Eladrin-Normans.
As in "Majesty", nobles build different guild houses (Fighters' Guild, Wizards' Guild) to train up adventurers to battle monsters and bandits.