I've also heard Our Kind recommended for this kind of thing, but I haven't read it myself.
Has a little less about historical events and more on the ideas that shaped humanity. The part on early human development is also fascinating.
https://www.amazon.com/d/Books/Ideas-History-Peter-Watson/07...
https://www.reddit.com/r/AskAnthropology/comments/1rzm07/wha...
RE "He gives almost no credit to human agency", I wonder what's the current state of that discussion. My current belief (as always, subject to change) is in technological determinism - i.e. available technology level shapes the "parameter space" of social and economical structures, and individual agency is a secondary factor. This seems to match my knowledge of history and history of science, as well as observations of current social dynamics. I'm not a scholar in the area though, so I don't know what's the best criticism of that view.