I started out writing machine code without an assembler and so had to hand assemble a lot of stuff. After a while you end up just knowing the common codes and can write your program directly. This was also useful because it was possible to write or modify programs directly through an interface sometimes called a "front panel" where you could change individual bytes in memory.

Back in 1985 I did some hand-coding like this because I didn't have access to an assembler: https://blog.jgc.org/2013/04/how-i-coded-in-1985.html and I typed the whole program in through the keypad.

The instruction sets were a lot simpler at the time. The 8080 instruction set listing is only a few pages, and some of that is instructions you rarely use like RRC and DAA. The operand fields are always in the same place. My own summary of the instruction set is at https://dercuano.github.io/notes/8080-opcode-map.html#addtoc....

I implemented a PDP-11 in 2007-10 and I can still read PDP-11 Octal