joust

Joust comes from Middle English, borrowed from Old French jouster (modern French jouter), which traces back to Vulgar Latin *juxtō or *iuxtāre, itself rooted in Latin iūxta, meaning "close to." It's been part of English since the early 14th century.

The word arrived in English already tied to the idea of two riders coming together in close combat, a sense it has kept since the 1300s.

The facts given don't point to any other English cognate, so none can be named here.