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Fast victories are painful victories, imho. Same with field battles. Taking your time and nudging the enemy into a disadvantage - like charging a solid defence - works best.
I find best results come from a patient preparation, for now. I make 2 holes in the walls and ignore all other siege equipment. Then I plant a shieldwall to absorb their archers while mine clear out the walls before a bum rush. =)
I prefer to assist with high tier archer sniping to protect my troops. Probably pretty standard.
I also don't bother sieging without a lvl 3+ professional army. My allies bring the meat for the meat-grinder, which allows me to patrol more effectively after each siege while my allies are given leave to repopulate their numbers (which they tend to do if they're depleted enough).
I'm wondering if having a large cavalry force like the khuzait do would swing the simulation equation in your favour?
EDIT: Are you using companions with high skills in the appropriate formations to maximise your bonuses? I'm not sure if the games stable enough for it to matter right now (1.5.4 is pretty rough) but it should make a large difference. On paper a shieldwall can be pretty buff with the right commander.
https://www.nexusmods.com/mountandblade2bannerlord/mods/107
after that attack... its like an open field battle, nearly no losing.
i always take empire mainchar for 20% faster siege !
Sieges suck.
But...
If you want them to be over faster, you need to advance to the walls yourself. This may be a bit more difficult in the very early game when you don't have any armor that could protect you from more than a couple of arrows. But, even so - Enemy archers aren't that big of a deal and are easy to avoid. Just about every castle has some sort of approach that will provide the player with cover. The only one I think that doesn't is a sort of mott&bailey castle, can't remember if it's Battanian or Vlandian.
Use at least one Ladder. Never, use two Towers together as you're just increasing the odds that both attempts to scale a wall will fail due to buggy Towers/connection points.
Follow the ladder group. They will run to a spot near the ladder (IIRC, if you have a Tower and Ladder, the Ladder will always be on the Left. That's also the most likely spot for a protected advance.)
The ladder group will assemble a short distance away from the ladder and stand there so that the enemy archers can get some experience points.
But, they will move to the ladders if you try to raise the ladder yourself. You only have to raise it a little bit, then drop it if you're under heavy fire. They'll do the rest once they are triggered by you raising a ladder a little bit.
Then, do whatever you wish. I'd recommend pulling back a bit and plinking away with a bow to help clear the battlements. Wait for the Tower to touch, which is generally pretty quick, then go in yourself if you see you still have soldiers fighting on the ladder side. Or, head for the gate. The outer gate should be down by this time if you're using a Ram. Head inside, careful of the murder holes and dead-drops, and start banging away on the inner gate because you can be virtually assured most of your Ram's gate crew has already left for their coffee break...
Tier 3 Walls for some fiefs are tough and can have crenelations and gatehouses that are annoying things to deal with. But, you'll need to learn how to deal with them.
In a siege, IMO, you really need to get in there and do stuffs. No, it won't really matter in the end. But, you've got to get some experience with fighting sieges and other units and it's as decent a place for that as there is. Later, once you can take a few hits, you'll do much better.
Even with all the above, sieges are still the weakest gameplay experience in the game, even if they are absolutely the most important. Go figure...
pause -----> rightclick on your siege weapon ----> reserve