Which dance form developed during the medieval era?

waltz
swing
estampie
leitmotif

The music in the  Medieval or Middle Ages represent the beginning of western art music. The Medieval music was solely choral and sung a capella, without instrumental accompaniment.

Estapmie is the dance form developed during the medieval era. Estampie consists of a series of verses, often of different lengths, and two refrains, sometimes called "open" and "closed", which alternate.

they most likely have a instrumental version. just look it up on google.