Sorry, but this 'realism' argument I've heard far too often is is flatly pathetic. Let's examine why.
Generally, when people talk about 'realism' in fiction, they mean what would most likely happen in these circumstances in real life. Correct?
Let's bypass the tedious historical arguments about a supposed era of 'fear ruling the day.' I'm sure historians can argue all day long about how 'brutal' a time it was, but what's absolutely beyond question is that a group of peasents methodically farming potatoes or something was an enormously, overwhelmingly, inarguably more commen scenario than say, peasants getting massacred by their evil king. Or alternatively, heroic peasents banding together to successfully stave off their evil king.
Why is it that we never see that?
Why is it, in supposedly 'realistic' fiction that supposedly 'shows life and society as it "really was," we see all the shiny assassinations and murders and whatnot, and not the mundane chores and lives many orders of magnitude more common? More 'realistic'?
Simple. Because how often they occurred is irrelevant. Because like all stories, it picks and chooses the events it wants to talk about.
Stories like this are not the slightest bit 'realistic' and have absolutely no intention to be. You don't get to throw realism out the window and then suddenly pretend to care about it when it suits your needs.
I was referring to the realism as far as the setting goes, not what occurs on a regular basis--as in what is relative in the story that CDRP is presenting. Also, just for the record, you do see a lot of the mundane peasantry of that time period. Have you played the game? The entire story isn't about the Bloody Baron. It isn't always about gore and war and "scumbags". For example, you can find a home for children who have been displaced after war touched their home. You can provide a safe haven to keep a mage from risking her life. As I stated earlier, both TW3 and DAI relate stories of a war, both grim and dire. TW3 just shows you the horrors of war, PTSD, terrible and impulsive actions taken by uneducated, hungry peasants, etc, instead of having you read random notes and codex.
Even assuming the argument of historical accuracy, "minorities" should still be present. Blacks were deeply embedded in all facets of European life/aristocracy for millenia. Honestly, racism and white washing as we see it today is an artifact of modernity, pre-1400 or so, differences were contributed to money and connection to aristocracy.
As for females being chronically objectified and using rape as a trite plot point. I get that people want historical accuracy and a certain grittiness to games, but I don't think I would ever play a game called "Escape from Auschwitz". Certain traumas needn't be glorified. Furthermore, for the millions of people who have experienced rape, incest or other forms of sexual violence, why bring all that back to the surface??? Giving a "gritty" sheen for some while risking reopening wounds for others seems callous at best.
Lastly, even if we believe in a white washed version of history, and acknowledge the abusive way women were routinely treated, the game has you hunting monsters, your character is also a monster who flings magic as he charges through battle with super human powers, he's raised a god child and has the option to have sex on a unicorn later.... But having an empowered female or a token black person is just too unrealistic? The setting indulges in adolescent male Caucasian power fantasies, which is sickeningly at odds with the ethos of Geralt in the books.
No trauma is being glorified. Furthermore, if someone has been traumatized by such horrors, they should stay clear of these types of games, just as they have to stay clear of stressors in everyday life. Games and media in general shouldn't have to sanitize their content on the chance that it could offend or traumatize, if they choose to, then great. They shouldn't be forced to. If those topics bother you, then this game isn't for you. I am not certain what games you could find, since the DA universe also deals with rape and sexual violence toward women. I am sure there are games that do exist, though that would suit your gaming needs better.
To me it feels like the Northern kingdoms were more late medieval, around the 1400 and early 1500s; with Nilfgaard being around the 1500 and 1600s. 
I can probaly exusce the witcher because it has its own narrative, plus it draws far more insperation from the renaissance eras of the 1500s then the middle ages. Of course being someone with a passion for history, I could correct you. Notably in the middle ages, burning at the stake was rather rare as the witch burning craze happened after the period.
Actually, death by burning was a common punishment. It wasn't exclusive to witch-taking. For instance, during the 14th century thousands of jewish people were burned at the stake because they were thought to have a hand in causing the plague. Crimes such as theft, sexual deviance (usually related to homosexuality) and vandalism could also result in death by fire. The witch hunts are just a small tip of that iceberg. Also, TW3 happens during the 15th century, if I am not mistaken. No need to correct me, I have a degree in Historical Arts. But I appreciate you discussing it with me. 