BBN.COM, 24 April 1985. They umm made the IMPs.
Like all such things it's a false question kinda. The implication
is that before this "six domains" there wasn't an internet, but
it's a false measure. In The Beginning was the HOSTS file. It
still exists, vestigially, on unix /etc/hosts.
When N is small, listing all the hosts in a single file is the
thing to do. When N > annoyance you look around for a new solution
(or someone to blame, if you are in a large corporation).