Senken no Majutsushi to Yobareta Kenshi
The Swordsman Dubbed the Sorcerer of Countless Swords

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Powerful swordsman MC stumble upon child then adopt them after some event occurs. Senken no Majutsushi have a darker story than Jimi na Ken, where Jimi na Kensei focus more being laid back.  

In both manga, the main lead live in a medieval era in Europa but with swords and sorcery where the mc ends up becoming parent like figure for a child (in Boukensha License ...) and for a young twins (in Senken no Mjutsushi...). The characters' actions are fairly realistic and the atmosphere gets heavy and become dramatic quite often (with a lot of emotions thrown at the reader). 

Both feature medieval settings where the main lead takes care of twins. Though the manga "senken no Majutsushi ..." is a bit darker and "Isekai Yururi Kikou ..." is more laid back.