In the Medieval times there was two ways of transport land or water. On land you would be riding a horse and carriage but the road is not so smooth so expect a bumpy ride. Transport on water is usually by barges (a long flat boat) and they would sail and carry passengers to inland towns. Also transport is very dangerous because you have a high chance of you getting robbed but it happens more at night so I would suggest travel with someone who has years of experience and can protect you from getting robbed and travel to your destination in the morning or midday and stay the night.