To add to your comment about Robin Hood - there were contemporaries who regarded some of the sacking of towns that you mentioned as morally objectionable. Just as in our own time, one has to be careful in treating actual behaviour as a sign of moral conviction, as opposed to (eg) immoral/hypocritical conduct.Historically, raiding parties, and armies tended to view "the enemy" as combatants to be dispatched. Yes, that includes civilians. Look at all the historical examples of towns being looted, pillaged and worse by advancing armies.
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it's pretty disingenuous to talk about "medieval justice" and morality and simply gloss over the legend of Robin Hood.
And doubly so when we are looking to emulate fictions that present an idealised conception of things - which is pretty typical for fantasy adventure fiction. (Even something like Conan, and certainly LotR and its imitators.)
This is why I'm not a big fan of mechanical alignment.One of the biggest problems with alignment, is that the DM's personal sensibilities become the cosmic law of the universe.
It's possible to use alignment labels and concepts - or similar ideas like fidelity to a god etc - without GM mechanical adjudication, though.