I always found it odd that perspective had to be "discovered" by artists, but a little digging online turned up this interesting, detailed look at its history.
https://www.essentialvermeer.com/technique/perspective/histo...
https://www.essentialvermeer.com/technique/perspective/histo...
It is quite likely that artists in earlier periods struggled with this as well, and were less concerned with adhering strictly to a photographic or geometrically exact perspective, as we are. The adoption of the camera obscura probably influenced things a lot.