Some lived near the sea and had high seafood diets, but most were just iodine deficient, which doesn't stop a population from surviving, though it leads to suboptimal outcomes in a number of dimensions.
There is this wierd pervasive mythology that before modern times people lived in an ideal state (at least in terms of nutrition), so any present deficiency from the ideal must reflect a difference between modern and premodern society. Past conditions were at least minimally adequate for survival and reproduction, or we wouldn't be here, but there's no real basis for assuming that they were in any way ideal.