I felt the same at Lydford castle. It's a very small town, one street with only a few houses, so there was no one around and we wandered about sort of soaking it all in. I could imagine what it might have been like a thousand years earlier, and it was interesting to think about the liv s that lived in those times as you have said.
Not too far down from the castle is a little waterfall which I'm sure would have attracted people then as it does now. We sat and imagined we were there a thousand years ago. A nice moment.