You get fair warning right at the start, "The Tudors were are the most famous dynasty". Hmm, well Victoria was several lengths the most famous monarch, and few people outside the UK have ever heard of the Tudors, Henry VIII, yes, but not the dynasty. Lady Jane Grey "the first Queen of England"? Except in Castor's "She-Wolves: England's Early Queens" gives that title to Empress Maude, so the claim for Jane is contentious at best.
For some reason recent BBC documentaries, especially ones concerning women, have developed a disagreeable habit of 'improving' the facts. If you can't trust the facts quoted in a documentary it becomes worthless.
Another point. If presenters are asking us to look at them for the best part of an hour, I think they should have the courtesy to be reasonably well dressed. A tee shirt and ill-fitting jeans is slob kit. Lucy Worsley (are her co-presenters) are always well turned out, which makes things that much more easy on the eye. It is also important to pick co-presenters who understand the basic rules of TV presentation. If they can't help wildly waving their hands around in conversation, then have them tie them to their belt or something. I got so bad that one lady was waving her hands across the shot of Ms Castor - a low point in BBC documentary production standards.