A pilgrimage is any long journey, usually to a place of religious significance or historical interest.
they don't
The crusades changed the world view of many Europeans, and gave them new insights into science and geography.But considering that the system of feudalism lasted until long after the crusades ended, I doubt we could say they contributed to the end of feudalism to anywhere near as much as the rise of mercantilism, the Black Death, the Hundred Years' War, the Reconquista, the growth of cities, the opening of universities, the Great Schism, or a number of other things.