The erosion of feudalism in medieval Europe resulted in the rise of centralized monarchies and the development of modern nation-states. As commerce and trade began to flourish in the late Middle Ages, the rigid class structure of feudalism became less relevant. The decline of manorialism led to increased social mobility for peasants. Power gradually shifted from feudal lords to kings, who could levy taxes and maintain standing armies. This transition also facilitated the growth of a middle class and the establishment of legal systems and governance structures, setting the stage for the political and social transformations of the Renaissance and Enlightenment periods.