What replaced feudalism during the middle ages? how? i think it would have something to do with urbanization and the guilds which the middle class came about and more people out of poverty.

It was replaced during the Renaissance with a more secular and nationalist form of government which has continued in some form to this day. This did coincide with the development of guilds and the development of many new technologies and ways of living, but I don’t think poverty itself decreased very much, if at all, in the early years after feudalism was replaced.