Answer:
Yes
Step-by-step explanation:
Firstly, I agree with the statement because the idea of enlightment in simple words was that people would be able to think for themselves and apply their thoughts and ideas into society without the restriction of a certain organ of the governament (as in the dark ages the catholic church) or an oppressive group. By having many figures of restriction such as religion and monarchy, people weren't able to have their own thoughts or speak freely, as many were often persecuted and murdered by those organs of society (an example was Giordano Bruno, an italian scientist killed by the italian inquisition).
Secondly, the middle ages was a time of uncertainty and chaos, as it happened right after the fall of the Roman empire. Many nations were created and split, with different kings and nobles ruling their people in a feudal cast system (except from recent Norman England as the country had bee invaded by William II and re organized). The fact that many kings and nobles had the power of ruling over people showed that in another way people did not have the rights to oppose monarchy, otherwise it could be considered treason or even a start of a revolution.
In conclusion I do believe that the middle ages was considered Dark and un enlightened as the majority of people in the society was both controlled by the monarchy and nobleness and the church.