According to historians, both men and women have shaved their hair in one way or another since the Stone Age. Apparently, the very first razors were made using shells, and the Ancient Egyptians are said to have used sugar-based wax pretty similar to the types we use today.
Back in the distant past, women removed their body hair to conform to the beauty standards at the time and potentially even to symbolise their class status. So it seems like women have gotten rid of their body hair for centuries, but it wasn’t an issue of personal ‘hygiene’, it was more about beauty ideals and social standings.