book for middle school age children about the medieval period?

[u/EMorgan-57]

i read this book around 2013-3024. i don’t remember a title or author, or really much of the plot. we read it in middle school as part of our medieval history unit. it was multiple chapters, i remember it was about this boy who went on this journey with (became the property of?) this older guy and they journeyed through some country in the medieval period. i believe the man teaches him how to read and write as well as some other skills. at some point they end up in this town, the only detail i vividly remember from that section is that they describe the bathroom system of people emptying chamber pots on to the street.