Virginia Postrel in her book THE SUBSTANCE OF STYLE specifically points out that ornamentation is always possible no matter how limited your resources. You might not have quite enough food, but you can still put your hair in a braid more easily than you can buy a milk cow for your family. You might have to whittle your spoons yourself from a branch foraged in the wood, but you can still carve a knotwork pattern into the handle more easily than you can learn the craft of forging metal.
A thirst for beauty isn't something limited to the rich and knowledgeable. It's something that makes us human, and I worry that people who can't accept that working class or disadvantaged people from history might have appreciated and prioritised beauty and style in their lives are also failing to accept that these people were fully human. I mean think for just a moment where this trope of the filth encrusted medieval peasant came from - it wasn't from people who respected their dignity and personhood.
Cleanliness, style, and ornament are all ways that as humans we express our dignity, and attributing filth and squalor to people is a pretty common way to deny their dignity.
Yes. Of course their lives contained beauty.