Historically, the Jewish Talmud is the oldest historical document that sets 18 as an “age of majority” because that’s when King Josiah decided he was old enough to make correct monetary decisions as a judge.
Shabbat 56b, “Rather, in every judgment that he issued from the age of eight, when he was crowned, until the age of eighteen, he returned the money to the parties whom he judged liable, due to concern that in his youth he may not have judged the cases correctly.”
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