Was there ever a point in Star Wars lore where Hyperspace wasn't available to any race, and ships had to travel on Ramscoop (or other similar drives) drives?
Yes. The point before Rakatan Empire. From http://starwars.wikia.com/wiki/Hyperspace#History:
The principles of Hyperspace travel were first discovered by the ancient Rakata. (cite: "Star Wars: Dawn of the Jedi")
However, this Wikia info may be outdated (since it may have come from older canon when Rakata were considered the Architects).
In newer superceding canon, there were supposed to have been races who used FTL way before Rakata: Columi, Gree, and Kwa; and moreover, most likely, the same can be said about Celestials, who preceded all other known races in the Galaxy. So, presumably, Celestials may have been the first with FTL but not much explicit is known about them or their history.