Certainly most castles did not have libraries. There were probably a few that did, but only a very few.
Castles were built primarily for military purposes. A few of them had nice living quarters for lords who lived there, but most did not. Some of the lords or members of their families liked to read, and those who lived in castles might have had what they called libraries, though the term would hardly be used today. Books were very expensive, and only the wealthy could afford any at all; my guess is that a dozen books constituted an extensive collection.
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Medieval castles.
This big.
People who lived in castles during the medieval times used them for attacking other castles and forcing them to surrender.
Medieval castles evolved because the old Motte and Bailey castles where easier to set alight and where not very strong, so they made stone castles to improve defence.
Medieval castles had no steam room.