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The TV thing, from what I’ve gathered, is normal in kids and lasts up until your 30s or somewhere around there. After that your ears just can’t pick up that pitch anymore.

The 12th Doctor met Robin Hood, who he insisted was fake even after meeting him. It was genuinely a very fun episode.

The TV series Merlin had the late great John Hurt and was also a super fun time.

The 13th doctor met the king during the witch hunts, which apparently was a decent impersonation of him. It was called The Witchhunter iirc

You could probably just look up any major medieval theft for something VERY specific