500 years ago is not that long ago. It’d be weird to even call people from then as “ancient”.
Anyways. Surviving the cold is pretty easy, even without modern technology. A nice fur coat can keep you perfectly warm, and yes they had fur coats in the 1500s. In fact, fur clothing in general dates back well over a hundred thousand years.
As for heating… A fire works great as heat. And humans have been using fire since literal cavemen days.
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