My top recommend would be Pendragon or Paladin (Tied for 1st), followed closely by RuneQuest.
Hârnmaster is playable, but not for those averse to details. Which is why I put it fourth.
Chivalry and Sorcery (3rd or later) is pretty good, too, but like Hârnmaster, can bury one in details.
GURPS, CORPS 2E, Savage Worlds, or Hero can do it well enough each, with just the core, if the GM knows how to say "No" to anachronisms, and trims availability sufficiently...
Likewise, for many story types, using Fate Core; others can be done better with Fate Accelerated.