How are you going to specify which item though? Or is he fetching it all? I can just imagine that...
H: Peasant, fetch from my baggage!
P: Hurr, what you wantin'
H: Just fetch everything.
P: Everything? What, even the bag of flour and two extra horses?
H: Yes, everything! You gone deaf?
P: Hurr, bollocks to this, 'tis turnip planting season.
Honestly, the thought of some poor hapless peasant staggering under a massive burden of arms and goods... I don't like this idea. Maybe if you had a specific baggage handling servant with specific items to bring, but surely there's got to be more pressing things to implement...