The Reconquista, which happened in Spain, and which was not a Crusade, did last for centuries. It ended in 1492.
For instance, there was a crusade against the Cathars, or Albigensians, which took place in what is now Southern France. It was a crusade which the Pope declared against a heretical sect which was growing in that particular region.
Also, I am not sure if we can limit the word "crusade" just to those authorized by the Pope; the word has a more generalized usage for any holy war engaged by Christians for religious reasons against non-Christians.
I do believe the Pope declared crusades against the Muslims in Spain; but whether authorized by the Pope or not, the reconquest of Spain was considered by Christians at the time to be just as much a crusade as the attempts to take back the Holy Land from the Muslims.