I feel like some of the confusion/frustration over evolution and the fossil record might have parallels to the confusion about the shape of the earth... There is a massive difference in scale between the world/universe/time as a whole, vs the small part of it that we experience as individuals.
The stuff that has been written down and recorded is only a tiny fraction of the actual history of humans. We have written records dating back like 10,000-15,000 years, and in that time humans have gone from carving words and pictures in literal rocks, to having smart phones that can show us audio and video in real time from across the world. That's a pretty incredible step, and when you think about it, the time frame that it occurred in is relatively small.
The article about Lucy and Ardi references stuff that is 3+ Million years old. That's like 200 times the amount of time it took to go from carving stuff in rocks, to smart phones. And for that whole span of time, we have only a handful of skeletons complete enough to make any conclusions about the appearance of humanoids during that time, out of billions and billions of humanoids that existed... That's not a whole lot of information to go on, so to me it's amazing that scientists can make any sort of educated guesses at all about the evolutionary history of humans.
Also check out this timeline of when Stegosaurus and T-Rex existed vs humans. We are chronologically closer to T-Rex than T-Rex was to Stegosaurus: