> So for the vast majority of history we weren’t human?

For any definition of "human" that is objective and universal, yes.

If you swore fealty to the wrong lord, worshiped the wrong god, were born into the wrong clan, ethnic group or state, you were considered something less than human. And of course, nobles claimed descent from divinity, making them more than human.

The concept of a common humanity with inalienable rights is relatively modern and in many places still controversial.