It's funny, I was wondering about the exact example of a bicycle a few days ago and ended up having a conversation with Claude about it (which, incidentally, made the same point you did). It struck me as remarkable (and still does) that this method of locomotion was always physically possible and yet was not discovered/invented until so recently. On its face, it seems like the most important invention that makes the bicycle possible is the wheel, which has been around for 6,000 years!