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I've always thought one reason Vlad the Impaler chose impalement due to the" glamorization" of the crucifix. Impalement is sort of a twisted offspring of crucifiction.
What if the Romans used impalement in lieu of the cross? Would the impalement stake carry the same cultural significance as the cross? They both make sadistic public spectacles, but I think the humiliation of impalement would make it less of a vehicle for martyrdom.