So Infinity War basically takes place over about 24 hours.
It's between 1 and 2 p.m. when New York City is attacked by a couple Children of Thanos and Iron Man, Spider-Man and Doctor Strange fight back. All three of them hitch a ride on the alien space ship — well, involuntarily, when it comes to Strange. Most of Agents of Shield's 19th episode happens during this time.
That evening, Scarlet Witch and Vision are attacked in Scotland by the Children of Thanos, and Captain America, Black Widow and Falcon save them. During this time, in AoS's 19th episode, we see Daisy meet with the smuggler and they reference what happened in New York earlier that day.
AoS's 20th episode then takes place late that night or in the very early morning hours, with Coulson and Talbot going up to the Confederacy's ship and taking it over.
The next morning, Captain America with friends in tow show up at Avengers HQ to meet with War Machine and come up with a plan. Meanwhile, we see that clip from AoS's 21st episode with Talbot visiting his family and the TV news mentions that "the city" (New York, I suppose) is crippled. Maybe they just meant a particular borough of the city.
Later that day, probably in the early afternoon, Captain America and friends go to Wakanda. Within a couple hours probably, they mobilize the Wakandan army to take up defensive positions and Shuri begins to operate on Vision's Infinity Stone. Then the Children of Thanos and their army attack, followed of course by Thanos himself.
See? The timeline is a snap.