The thing to keep in mind concerning the middle ages is that uniformity was a pipe dream. Every lord who could obtain the right to mint coins did so. Most peasants/farmers had a different contract with their lord to use the land: hereditary or in years, with restrictions on its use or not, with payment in kind (ranging from wheat over cattle to wax or wood), in money, or both, with extra privileges on inheriting or not, with the right to leave or not, etc. etc. Similar pieces of land rented out by the same lord could have vastly different conditions.
Jurisdiction was tied to the person rather than the territory. The church and some religious orders had their own courts. Foreigners had their own local communities in cities where they could go for lodging, support etc. It wasn't even rare to have cities that were presided over by two or more temporal lords, not counting the religious enclaves.
The lords' power was based on control of the land. When cities flourished, they got their income from trade, so the relative economic power of the nobility diminished. They retained their legislative and juridical powers, so they traded favours for taxes with the cities.
The king, meanwhile, had retained his rights to tolls and the like, and was able to use that to fund an administration and army to bring the cities back in line. But that became clear only after 1400. For DF, we'll be enjoying the fascinating juridical imbroglio of the late medieval world.