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Our floorboards (similar house) were fine under the carpet. Like they look their age and have historic woodworm, all number of scratches and holes etc but I think it adds to the character. Certainly they were fine to walk on without needing any sanding. Carpet is usually just attached with nails (gripper rods) not glue if that's what you mean, and trivially easy to pull up.
You don't need to fill the gaps. Aesthetically you might want to, especially if you're then sanding for a more modern look, but you don't need to. And assuming you heat the ground floor, carpet on the other floors isn't doing any insulating. Our wooden floors are perfectly warm enough to walk on.
need some advice on floorboards... we are moving to a 3 storey 4 bed victorian house in a couple of weeks. ground floor flooring is mostly hardwood flooring which we are happy with. 1st and 2nd floor (bedrooms and halls) have really naff grey carpet. in the master bedroom it does appear there are nice floorboards hidden under this carpet....
I am not 100% against carpet. just swore I would never ever get cream ones again as after 6 years our current ones look TERRIBLE - even with use of a spot cleaner here and there. Given there (should) be less footfall to the 2x bedrooms at the top of the house - would be fine with keeping carpet there. or do we get hardwood throughout the house + a runner on the stairs?