You might want to focus on biographies rather than general history books.
Personally, I’m partial to historical fiction. You get the important events, but the people are rounded out to become more relatable, and the stories come to life. Costain is my favorite historical fiction author (although some of his books are better than others), and I especially like his book Below the Salt about the Magna Carta (although it is atypical of his books in that it contains a supernatural element and jumps back and forth between that era and the contemporary time it was written). Michener’s The Source is also on my list to read. Somebody whose opinion I trust recommended Ken Follett, but I haven’t read any of his yet.
Completely as an aside, there’s a YouTube channel called Tasting History that I really enjoy. The host recreates a historic dish and then explains the history surrounding it. He’s done dishes from all over the world and from different time periods.
https://m.youtube.com/c/tastinghistory