Method infers single genealogy from 3601 modern and 8 ancient genomes plus 3589 ancient constraints. Tree encodes 27 million ancestral haplotypes and 231 million lineages. Recovers individual and population relationships accurately. Identifies descendants of ancient samples. TMRCA varies greatly across 215 populations due to population size differences. Confirms archaic admixture signals in modern humans. Pervasive sequencing errors plague common datasets. Small subset of variant sites are erroneous. Ancestor location estimator detects deep lineages in Africa. Captures out-of-Africa migration bottleneck. Shows archaic introgression strongest in Oceania. Validates against simulations and empirical data. Handles missing and erroneous data effectively. Enables spatiotemporal migration inference.