The Legacy of Shadow

Two humans find their way off planet, moving into a galaxy populated with countless aliens. They learn that humans are not native to earth, but were exiled there, and robbed of all technology, over 6000 years ago as punishment for 1000s of years of oppression and tyranny, as humans once ruled the galaxy with a cruel and capricious iron fist. With the aid of an ancient AI that has lain dormant for 1000s of years, they first defeat a terrible artificial foe that was created to deal with the humans once and for all, then they return to earth to reclaim humanity's place in the galaxy, the race having matured and grown in their exile.