'designed without a global audience in mind' - it was exactly designed with a global audience in mind - but I think Zemnhof didn't have the exposure to the width of linguistic research he would have now
Yes there are structural reasons that inform Esperanto as a Romance-lexified Western Slavonic - but it is hard to argue that it could be anything but structural - how could Zamenhof personally have chosen different?
Maybe it could be said that Zamenhof's conceptions of "global audience" were those who were closest to hegemonic and/or supernational influence, which I think I'd agree with.
But I wouldn't call his design nor process particularly culturally inclusive.
If we're talking about universal communication systems, then my favourite will always be SolReSol - https://en.wikipedia.org/wiki/Solresol
[Note: I don't speak a word of either conlang]