I'm always surprised at how long it took to be able to draw perspective as we see it with our own eyes. Its not like ancient artists struggled with realism or anatomy, since the ancient Greeks were chiselling perfect human forms dozens of feet tall sometimes. Maybe it was just extremely challenging to think about converting a 3d field of view into something 2d until more drawing techniques were established?
Wasn’t there that theory about Vermeer (Dutch 17th century), that he was able to “crack the code” by using special lenses that allowed him to see how an image should look on paper?
Part of it was also what was in vogue and what humans wanted to depict with art. Or allowed by the Church (idol worship and whatnot). Not to say it wasn't a skill to be discovered and pioneered. But there were reasons in addition skill floor why it developed when and how it did.
