The first draft was published in 2016: https://datatracker.ietf.org/doc/html/draft-koch-openpgp-web...
Even before that, there were other mechanisms proposed for this, such as https://datatracker.ietf.org/doc/html/draft-shaw-openpgp-hkp... (from 2003). Unfortunately it didn't catch on; I agree it would've been nice to have such a mechanism earlier.
It should have been in mail systems forever. Whenever you create an account the first email should have been the server sending you your private key in some format that every email client understands and would then prompt you to automatically install it in your client for that server.
If email worked like this I bet secure POP and IMAP would have been implemented much faster than they were in real life.