Although Lady Godiva was a real person - she was the wife of Leofric, Earl of Mercia around the years 1040 to 1070 - the story of her riding through the streets of Coventry to protest against her husband's taxes is a legend.
It almost certainly never happened.
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to drop taxes
We don"t know, she did reside on a farm. One should distinguish between service animals ( such as her Horse- which was black and in some quarters named ( Charlie) possibly in honor of Charles Vii, the King.) and pets such as dogs and cats- also animals sold for produce on a farm- livestock such as Cows, etc. of course, she had a horse, what"s a Knight wihout one? She owned her own mount, so was not quite low-level peasant. Serfs and such were not permitted to own animals, especially service animals. Knights had to provide their own mounts- the horses were not ( government issue) unlike say Modern Cavalry officers and such things as Mounted Police. No, you had to bring your own mount to the field of honor ( and battle).
No he rode a Mongolian horse.
on a horse
he was not in the war