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 黄宗羲 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.