First of all, taming depends on the animal already being social. A horse is relatively subservient to the 'herd will'... and the 'boss', the stallion.
But really, they had to test different kinds of animals. Zebras might look a lot like horses, but they are intractable, moody, and supremely difficult to tame.
And... the first horses weren't mounted, they were just for traction. Horses in Ancient Egypt were used to pull chariots, they weren't big enough to support a man on their backs.
But then the miracles of the science of selective breeding began to work... and someone decided to get on the back of an already tamed horse.
They were not "cool with it"
It baffles my mind who many people don't know how humanity engineered these animals to do as we wish. It is not just animals even plants too!
Most of the shit we see today took literal centuries if not millennia of selective breeding to make!
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