Ever wondered how Muslims connected with Allah before the five daily prayers were established?

Salam, everyone! I was recently thinking about how the five daily prayers are such a central part of our deen. It made me curious-how did the early believers, like the prophets and the Sahabah (may Allah be pleased with them), worship and remember Allah before the specific times and rak'ahs were revealed? I'd love to hear your thoughts or knowledge from the Seerah or Islamic history on this. Jazakallahu khayran for sharing!