Battles, particularly when charges were common, are mostly just walking and running (likely under fire) especially for the attacker, so the defender would choose terrain that is unfavorable for what their opponent wants to do (ie – walk towards them without dying), and stuff that makes this difficult are – rivers, cliffs, a bunch of rocks, etc. and the most common of them all – sloped surfaces with a noticeable incline. Their advantage is really just making the attacker walk slower.
Also, being seen from farther away isn’t much of a disadvantage for the defender. They wouldn’t take the high ground if they don’t wanna fight, and they wouldn’t mind being seen if that’s the case (the parts they’d want hidden will, of course, remain hidden)
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