It boils down to curiosity. For an example of this, google Galileo Jupiter Moons.
In the early 1600s he persistently pointed his telescope at specific “stars” and noticed some of them moving. He noticed a pattern wherein some of them seemed to disappear and reappear on the other side, eventually hypothesising they were orbiting the larger one. Keep in mind this was before “the larger one” was known as Jupiter or even a planet.
To come to such conclusions when all you have is your mind and (relatively) crude tools, curiosity and genius.
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