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True, but the Zelda series leaves a lot of information out (such as the topic of discussion with this thread, the origins of the Master Sword,) so there's no proof saying they didn't have contact at some point. No proof saying they did, either. But I think the Hylians wouldn't be worshiping...

I suppose you could be right, but even with God, there are instances a really long time ago where people did speak with him, such as Moses. I think it could be similar with Hyrule. Also keep in mind that in The Wind Waker, after climbing the Tower of the Gods and just when you're about to...

In The Wind Waker, it states that the sages in the temples have to pray to give the sword the power of "Evil's Bane." So, however the sword itself was forged, it doesn't have true power without the sages. As for the sword, I find it likely that the sages and perhaps the King of Hyrule had it...