I really want to read a book about this matter

So I was in the shower, I suddenly felt the need to read a story about a small team of men from different eras of humanity cooperating under the same objective.

For example it could be a small team composed of a warrior caveman, an ancient roman legionnaire, a japanese samurai, a french revolutionary and an US civil war soldier.

All pawns in their times but protagonists with in depth stories in this story, maybe showing off their unique skillsets and ways of thinking.

I know this work could require quite a bit of expertise in the historic field to write, but I am confident there are books of this kind, not asking exactly of this but if you guys know anything that gets close it would be very much appreciated.