Body aroma, shall we say, of course is both relative and subjective, but there is no way it can be defined out of existence. One does get used to it, which is not to say one comes to prefer it.
The difficult thing here is to put one's self in someone else's shoes, especially when they lived in a different era. Large, even very large cities existed in the past (and which are mostly still there). Various degrees of success was achieved in different places in coping with the problems of urban living. Nowhere have they really solved them but at least they managed. There are more problems than you might imagine, too. Think of the problems when draft animals were the principal means of transport and that was the case up until about a hundred years ago and to a lesser extent for another thirty years. The chief means of dealing with that problem was a man with a broom, a shovel and a large bin on wheels. The original street sweeper. One of my neighbors when I was little did that for a living and another neighbor kept horses. He even plowed our garden. But there are no men sweeping the streets, no horses and no vegetable gardens now.
Animals and humans shared living spaces in some places, mostly in the North, and in Europe in the distant past. Having spent time in barns and stables, it isn't as bad as it sounds but it does make for more housekeeping chores. I couldn't say if having a cow at one end of your house with you at the other end is any worse, health-wise, than having dogs with a run of the house. But I knew several people who had dogs that were not allowed indoors. They weren't exactly pets.
The hygiene market isn't just modern. It's been around for a few thousand years, with its ups and downs. Hardly everyone was able to avail themselves of everything that was available but the desire certainly allowed a flourishing trade in hygiene products. Things like hair spray are of more recent origin. Taking an ordinary bath has been customary for just as long, although it was something only a few could do. I understand in some places, it became a social occasion. However, when you have to carry the water and heat it all by yourself, I can assure you that bathing will become a once-a-week or less event.