Yes
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The system in which the powerful lords divided their land among lesser lords was called subinfeudation.
It depends on the type of 'lord' - junior lords were lords of the manor and thefore lived in manor houses. Senior lords probably had castles.
Vassals had to serve lords because the vassals promised to serve a lord in exchange for land.
The peasants give food & land to the lords.
The townspeople did not demand anything from the local lords during the Roman empire. Although there were powerful local people, there were no local lords. Perhaps you are getting confused with the situation which existed in the Middle Ages.