So, I can't answer for the whole genus. However, if you're referring to neolithic hunter-gatherers, we know that they COULD have children roughly every 2 years (if they could feed it) and that small family units traveled in 3-6 people. Very small, close units of direct family. We know this because foraging had to be done on the move, so childbearing was limited by your ability to carry younger children (0-2).

If you're referring to early agricultural communities, this differs greatly. We know that early agriculturalists were creating their own labor force. So probably as many kids as possible. This is the part of the archaeological record where we begin to see bone pathology tied with over-birth. Specifically, women who have died from constant birthing or are otherwise impaired/limited to this job function. This brings the life expectancy down 9 years compared to hunter-gathering (life expectancy roughly 23yo) and we begin to see a lot of malnourishment too. Because their diets begin to lack biodiversity and relying on starch vegetables causes cavities.

source: anthropologist