Series about two brothers who grew up with an unrelated girl during medievalish times and follows their romance story

[Stage]

-Likely read the books in 2000s (most likely somewhere between 2006-2012)
-I believe there were 3 main characters 2 brothers and an unrelated girl who grew up with them
-I think the girl was an orphan and the boys' father let her stay
-There was a nanny that helped raise the kids
-She marries the one brother
-I think the one brother dies and then she ends up marrying the other
-One of the brothers went away to war potentially and I think lost a leg or arm
-The girl ends up having children and I think names one of the kids after one of the brothers
-Potentially one of the brothers named Gabe or Gabriel
-I think the book was back with knights/castles/etc
-They lived on a lot of land and I believe spent a lot of time at a creek/river
-I remember my book potentially having an orange cover with a border around a image as well as maybe a green cover for a different one in the series? For sure remember the one book being orange.