I think it's more that "Some human some time has known how it works", not that "Any given human knows how it (all) works.".
But yea this glosses over a bit trial-and-error designs and, so to speak, "genetic optimization" kinds of designs where we just try random stuff and say "Hey, this works. Not sure why, but it works.".
There was a period of a century or more where steam engine design parameters were determined by experiment and gut feel. The physics of fluid dynamics required to explain why a design is optimal just did not exist yet.
There's a lot of places in history where engineering far outpaced the science required to explain it.