Would a medieval world use the word "trail" to describe a foot path?

I'm in the process of naming some routes and roads in my medieval fantasy themed world, and I want to specify routes that could only be managed on foot. I'm tempted to say trails, but since every body walked so much back then I'm not sure if they'd even make the distinction; I just imagine it would be roads and paths. Any thoughts on this?...

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Would a medieval world use the word "trail" to describe a foot path?

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