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Cry Havoc (and it’s supplements) remains a firm favourite. And can be easily turned into a “3D” version by adding some 28mm minis. It should certainly scratch that skirmish level niche for medieval gaming.
http://www.cryhavocfan.org/eng/suite/howmuch.htm
Bigger Scale? I’d probably be looking at using the renaissance rules by George Gush. Although a bit later in period (just leave out the later arms and armour) these always played a bit better than the WRG ones written for the period (or possibly I just played the Gush rules a lot more and am more familiar with them).
Warning, these are a product of their time, so might seem a little “rules heavy” in this day and age. Still always had good games with them.