Through what straits were ancient people able to get from Africa to Europe and Asia?

The main strait through which Africans were able to enter the territory of modern Europe is the Strait of Gibraltar, which is located between the Mediterranean Sea and the Atlantic Ocean.
It is located south of the Iberian Peninsula and connects European Spain and African Morocco.
In addition, ancient people could enter Europe and Asia through the Bosphorus Strait, which separates the Black and Mediterranean Seas, and also cross the Red Sea in the Gulf of Suez and Bab-El-Mandeb Strait.