Is it safe to assume soldiers garrisoned in late medieval castles wore matching tabards/surcoats?

When I was visiting castles in Wales, I approached many of the historical advisor volunteers to ask all the questions my heart desired. They had told me that in certain castles they were aware of, the soldiers would often have a specific tabard (or could be something different I just forget the name) bearing the livery of the lord the castle belongs to.

I know uniforms weren’t really a thing, but this makes sense. I’m sure it’s not the case for every single 14th century castle, but is this true? I mean if servants for a lord had matching clothes, I’d imagine the specific guards had some sort of matching article of clothing as well.