The bicycle was not invented until the late 1800s due to a combination of technology factors, design iteration, quality of roads, competition from horses, general economic growth, and cultural factors. Early bicycles were inconvenient and dangerous, and it took decades of iteration to create a successful model. Advances in materials and manufacturing techniques were crucial for the bicycle to become commercially successful. The concept of human-powered vehicles dates back centuries, but the correct design for a bicycle was not obvious. Economic and cultural factors also played a role in the delay of the bicycle’s invention.
https://rootsofprogress.org/why-did-we-wait-so-long-for-the-bicycle