I mean, Pillars of the a Earth, almost fits your description. There are no “wars” in the story, and the politics are local and minor to the story, but it is not exactly peaceful. Beautiful story though.

Fool by Christopher Moore

This may not be exactly what you’re looking for but it’s lighthearted and medieval. I picked it up because i was told it was as if The King’s Wit from The Way of Kings wrote a book, if you’ve read that.

It does have politics but they couldnt be described as serious at all. It’s funny and lewd and a bit immature but i really enjoyed it.