ΔE 12.6, fair: the same colour family, but not a straight swap. Pale Lichen is a little lighter, more muted than Medieval Forest.
Only where an exact match doesn’t matter, such as a new unit or a highlight. Fair match (ΔE 13). Pale Lichen is a little lighter, more muted than Medieval Forest.
The same difference applies the other way round: Medieval Forest is a little darker, more saturated.
ΔE is the colour difference between our two swatch estimates: under about 6 is close, over about 15 is loose. Real paints also differ in finish, coverage and how they thin, so test before you commit.
See Medieval Forest on the colour wheel See Pale Lichen on the colour wheel
All matches: Medieval Forest equivalents · Pale Lichen equivalents