In the lives of real medieval people, global travel typically fell into the categories of religious pilgrimage, warfare (i.e. the conflicts often called the Crusades) or long-distance trade.
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Overall, I would say that the expected travel distance per day, in summer, in the good parts of England or France or Germany would be: Travel on foot, with luggage: 15 km / 9 miles. (75 km / 46 miles per week) Travel on foot, minimum luggage: 20-22 km / 12.5-14 miles.
Nobles and especially royalty traveled in large courts when they were away from their castles and manors. Sometimes, unexpected weather or other circumstances forced travelers to find immediate shelter.
Groups of modern humans—Homo sapiens—began their migration out of Africa some 60,000 years ago. Some of our early ancestors kept exploring until they spread to all corners of Earth. How far and fast they went depended on climate, the pressures of population, and the invention of boats and other technologies.