you could teleport a truck into the Stone Age and still be the idiot of the town. There were no roads.
The problem wasn’t the wheel. The wheel was invented once there were decent trails. Probably it has been invented multiple times but it failed to pick up because of the niche use.
Same for horseman. Natural horses were pony size. So they used 2 pony to tow a little chariot. Hence the war chariot. Only once horses were breed into big animals (that can carry a rid r at speed) humans got the opportunity to have cavalry.
Most inventions are a consequence of other developments.
Even today, people are more likely to go backpacking, snowshoeing, cross country skiing, dogsledding, canoeing, or use a pack animal, than they are to traverse rough, unmaintained terrain pushing or pulling some kind of non-motorized cart.
Up until recently, things like logging, and moving really heavy objects were also generally done without wheels.
Wheels only offer major advantages under limited circumstances, so many people didn’t have a pressing need to create them, or work on making better versions.
Also, the things that make wheels really good, like steel frames, rims, axles, ball-bearings and pressurized rubber tires all require advanced manufacturing techniques that have only been around for the last 200 years or so.
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