We had cryogenic rocket engines in the 60s [1].
[1] https://en.m.wikipedia.org/wiki/Cryogenic_rocket_engine
Climbing a very good rope. I think this option is the most medieval.
Using a huge launcher brings to mind trebuchets.
An electric plane can give you a higher platform but I'm skeptical of that getting fast enough to be the bulk of a launch.
Antigravity magic? I guess that's not medieval, but I'd argue that magic is in some ways quasi-medieval.
Rockets are likely the least medieval option.
You mean big explosions targeted at the right side? If the Dark Ages had that, they would be lit!