EDIT: A little background to the question for people saying scouting (and to clarify why I initially posted). This was my first thought as well, but in reading about Roman history, I’d found out that they were notoriously bad at scouting, as it was something that they felt was below them (and it cost them at Lake Trasimene). Thats when I realized I had no idea how these armies would actually find each other
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Not to mention spies. They would report on enemy concentrations and general movements. A single messenger, or chain of messengers riding to deliver can outpace a huge troop concentration.
Although referring to a naval engagement a series of coastal torches were lit when the Spanish Armada was spotted off the coast of England.
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