Suggest me a historical novel that is not only historically accurate, but also has a decent plotline. Preferable ages: the Bronze Age, Antiquity, and the Middle Ages.

Well, the title speaks for itself. Many historical novels either go into too much detail, essentially turning into a full-fledged study, or sacrifice accuracy in favor of entertainment. I'm interested in the balance between these two extremes: it's like "living through" that era with the characters, with all the beliefs, prejudices, fears, and hopes typical for those times. Thank you!