The thing is, it wouldn't be "Historical" without all that awful stuff. Life in those days, unless you were born into power, wealth and privilege (ie., nobility of some kind), was pretty fucking brutal and unfair for the common people, and theft, assault, rape and murder were an all too constant part of most people's lives. In pretty much any of the places / eras you listed, if you were a commoner, any person of "Noble" birth could pretty much come along at any point and take whatever you have, rape your wife or daughters, and even kill you or your family, and suffer precisely zero consequences for it as that was literally their right at the time.

What I think you're actually after is some kind of "Alternate history" type deal where the uncomfortable truths about humanities past are sanitized for the sake of modern sensibilities. Fortunately most so called "Historical" fiction is in fact "Alternative history" and has been for decades, as even just the sheer amount of casual racism and sexism would make anything truly historically accurate unwatchable for most folks. Most of what passes for "Historical dramas" these days is just modern sensibilities and characters grafted onto historical settings.

Case in point, literally nothing you've ever seen about Vikings has been in the least bit historically accurate, as the Vikings were doing so very much more raping than modern people would care to admit let alone watch. Viking raids were as much about raping and taking slaves as they ever were about plundering gold or other treasures, but no one really wants to watch a show that's just violence, then sexual violence, then more regular violence repeated ad nauseam.

To that end you might enjoy "The Completely Made-Up Adventures of Dick Turpin" featuring Noel Fielding. It's a silly, feel good medieval adventure romp that I at least thought was pretty good.