So, by definition, adventurers travel. Where do you stay?
With the elves is good.
Seriously, Tolkien got it right. His two parties of adventurers travel across Middle Earth (which has an empty Early Dark Age/Early Middle Ages feel) and how many times do they stay in inns?
It’s pretty much camping and hospitality all the way. In Middle Earth, this means craving the hospitality of elves, shape-shifters, and humans of various social ranks.
In the real Middle Ages, you’re stuck with just humans.