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In my opinion, the society of heroes should be considered in the following way:
1) By representing it as one large whole.
2) By representing it as a group of societies.
I would like to pay more attention to point 2.
Each race (faction? I don't know what would be better to say) represents a separate group with a distinct mentality and "national" characteristics.
For example, Barbarians are quick-tempered and used to solving problems with their fists. Mages are somewhat arrogant, although not without reason. They are a race of wise men, skilled craftsmen, and, of course, wizards. Judging by their cities, they are used to solving their problems with their minds.
Each race can be described in this way. But let's move on to the first point.
A characteristic of the Heroes' society is that it is stagnant in its social development (I am only considering the third game). The only attempt to change something was made by the Elves. Part of the Elves separated from Avli and created their own state (correct me if I am wrong). This was described in Armageddon's Blade.
Here, it should be noted that this was not a revolution, or even any kind of social change, and certainly not social development. It was just a change in the political map of the Heroes' world.
Is there a class or estate division?
There is definitely a division, and not just one. The very distribution of units by levels indicates a hierarchical division, something like subordination.
Again, the presence of peasants, kings, etc., indicates a division of society into classes, BUT! There is a caveat: each race has its own way. The social divisions described above apply fully only to the Castle (Humans).