One person to live in York Castle was King John. He used the castle as his personal home for his security.
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Camelot was where King Arthur lived. In present day, some believe it is Tintangel, a coastal castle in western England.
the castle was developed in the middle ages
The name Castle means "the man who lives in the castle".The word castle comes from the Latin castellum. This referred to a small fort used as a watchtower or signal station.
They lived in where they lived.
Safety outside of battlements was very poor or nonexistent. However, if you lived within walls, there was usually high walls (possibly multiple) as well as guardhouses for soldiers to defend the city/castle in case of siege or attack.