Actually, until the invention of Pikes, Calvalry was incredably effective against infantry in the middle ages. That stuff they say in Braveheart about no army standing up to a charge by heavy horse is true. No ifantry army could withstand a charge by mounted knights. The Engilsh were successful against French cavalry using archers at Agincourt. So if Gondor had enough of those it could be successful, or if it had pikemen. Otherwise, I think Rohan would probably win in a battle on the open plains. Still think Gondor would win the war as it had more capable leadership and more resources.
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