Argad is a mix of skirmish, not competitive game, and of narrative RPG, and could apply to any context.
It works for medieval historical, however the fantasy extensions are no more than a toolbox (and not much translated) that GMs may change as they wish, so if you like the system you'll have to do most of the work yourself to adapt it to your creatures and dungeons etc. for your players...
But we're always willing to help.