Yes, tents have been used for thousands of years, but they didn't look like what we have today. The Romans used a large sheet of fabric with support frames. They would make a large frame and drape their canvas or material across the frame. Camping tents, like we have, is rather a modern idea.
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There was no explorers in the middle ages. When exploration started that is when the middle ages ended.
Before the middle ages was Anquity (Greeks and Romans) and after the middle ages was the Renissance
well your wording is confusing😕
The 'middle ages' is also known as the 'medieval period'.
The fall of Rome in 410 AD