I think people tend to overestimate ow strong projectiles were. If they would have been strong enough to piece and destroy shields that easily, they would have disappear in favor of more arrows and javelins. Which was tried btw, did not work because shields and armor are really great.
Pilums would not have disappeared anywhere if they would have been so brilliant against shields. For that kind of advantage it supposedly gives, its more than cheap enough and not too technologically demanding either. And ofc shields and armor evolved all the time.
This gives some idea how strong shields are. And that is almost ideal condition for destroying a shield, in real life hand holding it would flex more than in the video, taking a lot of power away from any impact. And this is only basic every man's shield. But keep in mind that is plywood, which i think is little tougher than you would get historically.
Armor is also harder to pierce than it would be in tests because human fat provides good cushion, taking lot of force away from impact. Like shield, it does not get crushed between 2 hard places but between soft and hard.
Problem is how to abstract entire day of battle into acceptable lenght. I think shields are still good as they are, but armor should be given small buff and arrows small nerf (but quivers should hold more arrows than currently).
General rule: people who have to walk and carry everything with them don't wear and carry around something that does not work. In fact people even ditch something that is proven to work for reasons like comfort. Some medieval sources complain about soldiers not wearing padding (some kind of cloth, i don't remember what it was) underneath their armor. Padding provides enormous protection, soft flexible padding and hard outer surface (chain mail) is incredibly difficult to pierce, its tricky even if target is not fighting back. But its hot, so soldiers sometimes ditched it.
In real life special forces have been known to ditch ballistic helmet in favor of mountain climbing helmet that provides no protection against weapons. Why? Because it was more comfortable. And they did suffer more, easily preventable, casualties because of it. It was apparently one reason why US armed forces developed more comfortable helmet for their special forces.
No armor or shield provides perfect protection. That is how in general you would damage people with shields. Aka don't hit the shield.