I haven’t played Foundation, but since you’re looking for laid-back and medieval, there’s a really cozy looking game I want to try called Tiny Glade that apparently has no objectives. It seems to be a pure sandbox game.

Plus, if you like supporting devs who use smaller/less-well-known engines, this one runs on Bevy, a small Rust-based engine!

My absolute favorite part is the near-unanimous expression of misery from all those commenting. We’ve all had a truly wretched encounter today