Asalamu Alykum Yahya
In my humble opinion, verse 7:172 is giving us human beings today after reading the Quran the reminder of an oath that was taken by arguably all human souls before they entered this world. Now that God has reminded us through this revelation the Holy Quran the oath that was taken, we shall have no excuse to say we did not remember. As the Quran is now reminding us.
Or another interpolation would be that 'here is the oath that you took with God that you dont remember, "Am I not your Lord? They said: Yea, verily we testify" So here it is now reminded to you the oath in this Quran so that on the Day of Resurrection you do not say and give an excuse of this oath we were unaware.'
Verse 7:173 seems to suggest that incase you try to blame your fathers(ones following falsehood) for your destruction as you have been warned before you came to this world and after with this Quran.
This is my humble opinion. God knows best.
May God guide us even more Insha'Allah
Salam