Oily Dragon
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The hanzi itself is ancient, maybe even Oracle bone ancient, but yeah modern usage in the CMA sense kind of starts in the Ming/Ching transition period, like practically all empty handed forms we know today.I know the word "internal" was first found on a tomb stone. I don't have Adam Hsu's book with me. My memory could be wrong. Was Huang Zongxi é»å®ē¾² or Wang Zhengnan?
If you read any of the classics you'll see it pop up here and there. A lot of stuff we use in the modern era like Qi and Nei is borrowed from really old scripture and stuff describing early Chinese philosophy, which is a rabbit hole like few others.
Like, go and spend some time on what schools Huang Zongxi went to. You can spend a whole afternoon on this stuff.