Larry I can think of two off the back of my head.
This is from Niall Ferguson "Nevertheless, the fact remains that no organisation in history has done more to promote the free movement of goods, capital and labour than the British Empire in the 19th and early 20th centuries"
Then there was the Chinese tribute system which sustained Free trade and Free Movement in South East Asia as a basis for economic prosperity for 2000 years.
Of course both involved coercion by more powerful states on less powerful states, the former more than the latter since China only required the tribute states to kowtow and acknowledge their cultural superiority, a pragmatic compromise that even Britain was prepared to concede prior to Jardine inciting the Opium wars. It in the main left them to govern themselves.
However I think it is dangerous to look for precedents in history, since you will never again get the particular set of factors that led to either the British Empire or the Chinese tribute system. Ironically now the Tibetans Mongolians and Uyghurs are at the mercy of a brutal Chinese regime and the countries of the former Empire are viewing Brexit with a certain amount of satisfaction that Great Britain is finally going to pay the price for it's sense of superiority and entitlement and that now they are the ones it will have to kowtow too (plenty of that in the Indian, Hong Kong and Australian Press)
For me given that the world is made up of loose geographical blocks of countries allied by economics and shared cultural and political values be it in Asia, Asia Pacific, South America, Africa it makes absolutely no sense for us to break with the block that accounts for 50% of our trade and with which we share more politically and culturally than sets us apart, though what sets us apart is respected and valued. If the Empire and Chinese tribute system teach us anything it is that such arrangements can be the basis of greater prosperity for the whole than for the individual members.