Medieval towns people were mostly of two classes. They were either laborers who were technically serfs, but did not live on manorial estates, or they were members of the middle class.
Members of both classes worked as servants, weavers, potters, carpenters, smiths, and so on. People in towns usually did not have their own cooking facilities, so there were a lot of people who cooked and sold food, especially bakers. These business were owned by middle class people, but the workers might technically have been serfs.
Also, towns had lawyers, apothecaries, jewelers, inn keepers, and clerks. These were middle class people.
Members of the nobility tended to live on their estates, which may have included villages, but usually did not include towns.
Towns had clergy in them, and some had monasteries with monastic populations.
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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.
There was no explorers in the middle ages. When exploration started that is when the middle ages ended.
Before the middle ages was Anquity (Greeks and Romans) and after the middle ages was the Renissance
They were given the rights to buy and sell property, freedom from military service to the lords, a written law that guaranteed the freedom of the townspeople, and the right for an escaped to become free after living a year and a day in the town.
well your wording is confusing😕