It really doesn't have a lot of the things you mentioned from Romance. My name and pic comes from Xiahou Dun, so I'm pretty familiar with those games.
FE is closer to Civilizations than it is to Romance. Although in FE you will have a ruler, and some champions, they don't interact with each other, or have any personality at all. In Romance, you could have family, rivals, friends, and sworn brothers. And those things were meaningful.
FE is a great game, but it's more random map city building like CiV than Romance.
Mount and Blade: Warbands is a fantastic game. I have it and according to Steam, I have put in almost 500 hours. It is more historical, it takes place in a non-historic kingdom in the middle ages, but there are no fantasy elements in it. It does have a lot of the elements you mentioned from Romance, but they are not very deep in the game, but you can pursue a very free form game style, and be anything from a merchant trader, a mercenary, to a King. You can form rivals, get married, recite poetry to your sweetheart, have companions...it's a great game and might be close with what you want. Also there are a couple of fantasy mods created that might interest you.
Crusader Kings 2 is pretty much a game about court intrigue. You have to play a ruler of some kind, even if it's just a lowly count. But no other game offers the level of choices for interaction. Rivals, factions, religions, heresies, incest, assassination, infanticide, regicide, kin slaying, the game has it all in that department. Truly a great game that doesn't pull any punches about how dark and dirty court life was in the middle ages.