Lion Rampant is a good set, but may not be the best for recreating "derring-do" adventures. In the stories,
Robin and his men are very much individuals, as are the Sheriff, Guy and Prince John. Pig Wars, and the Robin Hood set from Pulpactionlibrary both give you a chance to give each character individual traits. LR relies on
groups of figures of a particular type.
Of course, LR can handle a bigger game, but my experience with PW suggests that a player can handle up to 20 figures without issue.