Considering the complexity of projects like the pyramids or some of the “Wonders of the ancient world” type projects or even the precision and knowledge needed to construct the Roman aqueducts, these seem to indicate that a fairly high level of engineering acumen existed for a fair number of people in these civilizations, within the limits of the materials and the science at hand.
Without books or technical schools or large libraries how did this detailed information and these engineering skills stay intact from generation to generation in the ancient world?
Well, some Roman engineers (Marcus Vitruvius Pollio, for one) did write texts as guides to others. His most famous and well-preserved works were the De architectura libri decem (10 books on architecture). I had a copy somewhere online, but cannot find it anymore…
This is a complete WAG, but the apprentice system seems to be extremely old and is still in use in lots of trades. It could easily have been used by Roman builders.
Why do you say there were no trade schools?
I remember when I was interested in Egyptology I learned that there were schools for scribes. They learned their trade in a formal setting.
The most sacred places in Shintoism are the two Ise shrine complexes, Geku and Naiku. They were first built in 692CE. Death and decay are very taboo in Shinto thought and so every twenty years, all the buildings are completely taken down and exact replicas are built. Except for one short hiatus, this has been going on to this day. (The last reconstruction dates to 1993.)
Even though plans have eventually been made, all the knowledge about the construction is entirely passed on orally from master carpenter to disciple. This goes down to the making and use of their tools, which haven’t changed in 1300 years.