When did we start using Did in questions For example Saw you him today Romeo and Juliet Act I Scene I would today be Did you see him today?

The question forms using the auxiliary verb "to do" were already well-established in Shakespeare's day. He had the option of using either form.

For example, he chose to have Polonius in Hamlet say "What do you think of me?" as opposed to "What think you of me?". And Lady Macbeth says to Macbeth "Why did you bring the daggers from the place?" not "Why brought you the daggers from the place?"