I know that 1491 was a pretty good book about this. But it's like 20 years old now. And Lidar seems to have really opened up new insights in the past decade or so.
Cabeza de Vaca spent 1528–1536 wandering through the Southwest, living with multiple indigenous tribes. His experiences ranged from enslavement to becoming a medicine man. His firsthand account, Naufragios, is available, but I highly recommend A Land So Strange by Andrés Reséndez for a more accessible read. De Vaca also had a second adventure in South America, but it’s not as well-documented.
Another great read is River of Darkness by Buddy Levy, which covers Francisco Orellana’s journey down the Amazon. His expedition was roughly contemporary to Cabeza de Vaca’s own jungle survival story—though Orellana was a bit more conquistadorial than De Vaca.
I’d also love to see a proper follow-up to 1491 (1493 doesn’t count!). The closest thing we have might be America Before by Graham Hancock, which incorporates recent LiDAR discoveries—but it leans more into speculation than hard archaeology.
I found Pekka Hämäläinen's Indigenous Continent to be a worthwhile history of North America, although mostly it was focused on events during European exploration of North America with a relatively short initial section about the state of civilization prior to the Spanish arrival.