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It’s an old system, but still the best for historical medieval wargames … don’t laugh … but TSR’s Battlesystem, originally written for AD&D 2nd Edition. Sounds crazy, I know. But the fantasy element is easily removed if you want, the point conversion and unit construction lists allow anything from 500 BC to 1500 AD (iron weapons to very primitive firearms), and at 1 figure = 10 men, allows for decent scaling.
If it has one weakness, its it limit in scale, it realistically only allowed battles of a couple thousand men. But for larger skirmishes to small battles, it really is still the best. Not overly abstracted (Saga) or overly simplified (Kings of War), not overly fantasized or “heroic-sized” (WHFB) … just stick to the 2nd Edition of the TSR Battlesystem and you won’t go wrong.