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WAIT ive just had a Thought. AU where, when they are coming up with a noble alias for Lancelot to use so he can become a knight, they end up stumbling upon Gwaine's family crest/history whatever (yeah i know he's technically from another kingdom so this doesn't totally work, just ignore that for a sec). And they're like, "hey, the son of this one knight mysteriously vanished and no one has heard from him in years, he probably won't mind if we steal his identity". So now Lancelot is going by the name Gwaine, and everyone totally buys it, which means Lancelot gets to stay in Camelot and join Arthur and Merlin on all their adventures.
That is, until season 3, when they meet the real Gwaine. Lancelot panics, bc if there are two Gwaines running around then people will figure out what he did and he'll lose his knighthood. Luckily, Gwaine has a brilliant solution: give him Lancelot's name. So now everyone calls Lancelot "Gwaine" and they call Gwaine "Lancelot", and Gwaine and Merlin are absolutely thriving amidst all this chaos, and Lancelot is very, very confused.