They used simple low alloy steels that didn't need hour long tempering.
re all the above methods that judge colour by eye.
gunsmiths would spring temper springs by putting the spring in a small container with oil.
The oil burned, naturally aspirated at a particular temperature for making springs (borownells shop kinks) That's too hot maybe 550F range
That goes aback to flintlock era, probably earlier
I saw a video originally on film, early 1900 somethings straight razors
they tempered in molten lead pot.
A wooden splint would stir the lead but not char the wood.
That would give you 450 F ish
I think they were dipped in graphite so as not to solder/tin the blade.
Molten salt bath of particular type melts at specific temps, depending on which salt.
How did my grannies bake bread ?
by eye and ear
Heavy mass cast iron stove, air control = heat control.
Experience, water drop bounce
bimetallic strip thermostats have been around a hundred years