What historical facts do you have in mind? I think most Protestant Biblical Scholars would agree that this psalm is clear about the Ark. Look at verse 1, just for starters:
“The LORD reigneth; let the people tremble: he sitteth between the cherubim; let the earth be moved.”
What do you suppose that is in reference to?
I have in mind the ones you mentioned in your post.
To me the image of worshipping at his footstool is enough to get the meaning across. Clearly the footstool is a means of worship, not an object of worship.
In my opinion — I am no scholar by any stretch — you’d have to go out of your way to miss the meaning of this scripture.