Recipes go back millennia, and seasonings were also common, but varied by region. It’s easy to grow your own herbs a, or even forage for some things.
I don’t think it’s true that most food sucked at any point, except for people in exceptional circumstances.
Recipes were the province of the wealthy. The average person would have had a very repetitive, bland, and potentially malnourishing diet. They might have had some herbs or even foraged like you say, that still is very bland and boring compared to what we’re used to.