Complex sentence: In medieval times the margraves usually had more autonomy from the king compared to other types of hereditary lords, but by late medieval and early modern times, as borders grew less unsettled, the distinction between margraves and other hereditary lords gradually disappeared.
Split into simpler sentences: In medieval times the margraves usually had more autonomy from the king compared to other types of hereditary lords. By late medieval and early modern times, as borders grew less unsettled, the distinction between margraves and other hereditary lords gradually disappeared.