WASHINGTON—Washington and Baghdad have reached an agreement for the withdrawal of U.S. troops and other foreign forces from Iraq by the end of 2026, according to U.S. military officials, in the latest attempt to curtail America’s two-decade long military commitment. Hundreds of U.S. and coalition troops based in Baghdad, western Iraq and other parts of the country would leave by next September, followed by a drawdown of forces in the northern Iraqi city of Erbil by the end of the following year...