Yeah, exactly.
But you don’t even need to know the history to understand the clear meaning of Psalm 99:5.
The only way you could misunderstand it is if you have some sort of Asperger’s syndrome with regard to scriptural interpretation. It’s this odd failure to see meaning.
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?