Some mediæval stories are a mixture of prose and verse that you can easily imagine working in performance - the Irish story of Mad Sweeney is one. And many mediæval songs work on a modern timescale, like the Carmina Burana lyrics. But the British seem to have gone in for massive slabs of uninterrupted verse, like Graysteil or the Robin Hood ballads. We do know Robin Hood was presented as a drama but we don't know how.

Spanish romances are as prolix as Robin Hood, I think. I've never heard one performed.