Indeed Uranus will have been seen by humans,and other good sighted animals!,since the beginning of complex life on earth just not recognised as a 'wanderer'.humans in the pre telescope age would have seen it as one of many faint stars and their limiting magnitude would be better prior to light pollution. Prior to Herschel it's movement does not seem to have been noticed but some telescopic observers like Flamsteed seem to have recorded Uranus as a faint star. Unlike Neptune which was only seen in the telescopic era,Uranus is thus hard to put in a category as a/it is,just,naked eye and b/must have been seen millions of years ago.it's a sort of hybrid of ancient era and modern era!