Using the API I can query for related records like Stage History for Potentials, but only one at a time.

Is there a way to query for more than one of these at a time? As in, I'm looking for a way to get more than one Potential's worth of stage history with a single request. The downside of doing it one at a time is that it 1) hits our quota limits very quickly even though we're on the "enterprise" plan, and 2) it's very slow.

Thanks,

Darrell