There was actually some sort of law that they had to fight on foot in a specific office (consul/dictator?) until some date when things changed. It might have been about the time of Telamon, 225 BC, I can't recall. It might have been 100 years earlier. I know I've seen the references but I cannot recall where. There was some exception made because of the need to do a rapid forced march for interception of a major threat.
Was it practical or sane as warfare advanced? Hell, no! Traditions often aren't. Remember that the legions were originally hoplites and military tradition changed slowly over centuries. Hoplites scorned cavalry in ancient times. "Real men/citizens" fought in the ranks. It is much different than modern armies or later armies: where the rank and file are middle class at best, and often recruited primarily from the less wealthy (as happened in later Roman history.) In hoplite and Republican legionary society the foot soldiers were the upper class and dipping down to upper middle class. There was also a wealthy elite equestrian class. For hoplite warfare you had to be wealthy to afford both the gear, and the time away from your property for a military campaign. (The hoplite panoply was equivalent to about 6 months to 1 years wages.) If only we could do the same today...would be nice to see some of our "leaders" actually fight at least in their youth rather than hiding in the National Guard and failing to even show up for mandatory service for extended periods, they might do a bit better job of managing a war...but I digress.![]()
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