Most humans have historically lived in some kind of community - be it a city, a town, or a village, the point is the same: a community can provide more services that a single person living in the forest can't.

Survive, yes. But survive in comfort? Perhaps not.

I actually think we survived in communities/cities for longer. We lost our rough traits (ie: lots of hair, thick skin, etc...) compared to the rest of apes. So we must have been inside homes for a very long time.

That only really applies to cold climates at best.

Here's the theatrical trailer of Ten Canoes (2006) by Rolf de Heer with modern actors, many of whom are a generation or less from living traditionally without permanent homes, long houses or anything westerners would consider as "inside", retelling a story from their oral history.

https://www.youtube.com/watch?v=tH_MY8FJuYo