there isn’t going to be any singular, satisfying answer for this because it wasn’t really a philosophical invention in the same way that, say, the number zero was ‘invented’. Humans have had some concept of time for as long as we’ve been a species, because experiencing time isn’t unique to humans. Our primate ancestors experienced time, and so do elephants and dogs and goldfish, and all have some internal mental processes related to that. Whether this meets your definition of a “concept of time”, is really a question about how you’re choosing to define that.
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