does anybody here know any good books or book series on ancient European history - the Crusades, the Inquisitions, etc. - that don’t use objectivity as a facade for bashing Western culture? Like, books that use realism and rationality to explain the choices made and provide context into them?

Considering you think a maga propaganda channel on YouTube is "realistic and rational", no I do not know of any similar presented books on the topic. The people who consume and create that propaganda aren''t really book people, click bait YouTube is more their speed, so that's where this type.of propaganda mostly is

The crusaders were fucked and Western Europe was the bad guys while Arabians in the middle east were the victims.

The only people who present it differently are lying.

Sometimes history makes you feel uncomfortable, that's when it's most important to learn about. What you want is the opposite: fake facts that make you believe everyone that looks like you are always the good guys and never the villains.

If you're being honest, you're just starting down a dangerous parh, so just don't walk down it