Gray fantasy with redeeming/good characters and plots

Grimdark fantasy is fun, of course. Having a world where the characters are just poeple, rather than heroes is something that I do like. However, I have recently been wanting to read something where there might be good characters or hopeful plots scattered within. I know this is almost a cliché by now, but something in the vein of ASOIAF with Ned Stark (with all his problems) or Jon Snow, etc, where even though these are far from your typical 'hero', they are still trying to be honourable. Sort of in the vein of Memory Sorrow and Thorn, but perhaps a bit more grimdark in its overall tone.

Any recommendations? Preferably, I would like to read medieval fantasy, but I am open to other sub-genres. Thanks!!