It’s more of an action story but I really enjoy the father-son relationship in Swordmaster’s Youngest Son
https://www.mangago.me/read-manga/swordmaster_s_youngest_son/
Also! Not exactly historical but the father-son relationship in For My Own Good made me cry for two nights straight I really really really rec this one
https://www.mangago.me/read-manga/i_ll_retire_after_saving_the_world/

I know that there are so many father and daughter relationship historical manhwas where the daughter is the mc, but is there any father and son one where the son is mc??