I don’t think it’s true that most food sucked at any point, except for people in exceptional circumstances.
Similarly, poor people in Victorian England often ate out or ate cold meals, either because they did not have the means to cook, or because they could not afford to; pots were not really cheap, nor was cooking fuel. https://victorianweb.org/science/health/health8.html
Certain types of implements, like ovens, were not super practical or cheap for a lot of people to have dedicated to their own house. https://food52.com/story/17568-the-centuries-old-form-of-pub...
Medieval Europeans had several times as many sorts of herbs and vegetables as we do. I can forage 20-100 species on my block alone in the city; none of those species are in our markets.
Our supermarkets specialize in those that provide maximum bang-for-buck, including transport costs. That really thins the selection.
food wouldn't just have sucked, in many cases all you could eat would be some dried grain boiled to porridge, or the handful of semi-mouldy veggies that made it through winter months -- and many would often be lucky to even have that
Even the poor wore colored clothing, not the uniform drab depicted in movies. Dyeing cloth with common weeds is a worldwide custom.
All but the truly poor lived indoors with a fire, either in a fireplace or centrally located beneath a peak smoke hole in the roof.
In all but the leanest times, chickens were easily raised by most people. Hogs were also common - there are even laws about raising them inside cities! That being said, its possible many meals were meatless, but the prevalence of meatless fasting rules suggest most people had access to meat - you can't "prove your faith through deprivation" if you're always deprived. Furthermore, serfs had access to the low-grade meats from butchering, and could keep it fresh with fat preservation, salting, or smoking.