I'm no expert in the middle ages, but there were not a lot of roads constructed during this time period - mostly due to the level of civil engineering and bureaucracy that roads entail. Who builds them, who maintains them, who can put tolls on them, etc.
I consider "roads" in BM to be more of routes or trails more or less caused by human wagons, horses and feet and not formal roads.
I've also heard of some research showing the advent of new, purpose built roads, lifting Europe into the industrial revolution. I think that's a little bit late in the period.
