How was the legacy of the Middle Ages expressed?

The dark and romantic era of the Middle Ages left us with a great cultural and political legacy. For example, many European peoples have completed their formation period and have embarked on a national revival and the formation of new states, which radically changed the map of the world. The Middle Ages influenced the democratization of society, the first courts and codes of law appeared, and somewhere even parliaments and senates. Also during this period, the main religions of the world were formed and their boundaries were established. Science and writing survived the golden age. The Middle Ages gave us a lot of writers, thinkers and engineers who were in many ways innovators of their craft.