We take for granted that invention is a clear isolated concept. But previous to the modern age, invention was intertwined with tradition. Creating a society which could even adopt tent life involved developing traditions around how the tent was made, who made it, how it was maintained and how it was passed on. Each new invention and small innovation to the tent had to be integrated through tradition, adopted over generations and in this way mass tested.
What it takes to develop the ability to mass produce a specialized, portable system of shelter without the concept of engineering is thousands of years of tradition. But eventually you end up with this specialized invention, highly attuned to a way of life. Yet to us it is deceptively simple.