As Francois Ziegler pointed out, Galen introduced the idea of four degrees of heat and four degrees of cold on either side of a standard neutral temperature around 150 A.D.
By the 1300s, the Oxford Calculators, associated with Merton College, Oxford, talked about temperature as if it were a continuous one-dimensional quantity, akin to quantities such as position and velocity. The important points are described in Lindberg's Beginnings of Western Science:
The fundamental idea was that qualities or forms can exist in various
degrees or intensities: there is not just a single degree of warmth or
cold, but a range of intensities or degrees running from very cold to
very hot...
Reflection about qualities, their intensity, and their
intensification thus led the Mertonians to a new distinction: between
the intensity of a quality (defined above) and its quantity (how much
of it there is). An example will help us to understand this
distinction: it is obvious enough in the case of heat that one hot
object can be hotter than another; this is a reference to the
intensity of the quality, what we call "temperature." But we also have
a conception of the quantity of heat--how much of it there is. If we
have two objects at the same temperature, one of them twice as big,
that larger object clearly has twice the "quantity" of this quality of
heat.
Nicole Oresme then went so far as to represent temperature (as well as things such as pain and grace) graphically in his Treatise on the Configuration of Qualities and Motions. Unfortunately, I can't get my hands on an English translation, but Lindberg describes it like so:
Take a rod AE... heated differentially, so that the heat increases
uniformly from one end to the other. At point A and at whatever
intervals you choose, erect a vertical line representing the intensity
of heat at that point. If (as we have postulated) the temperature
increases uniformly from A to E, then the figure will reveal a uniform
lengthening of the vertical lines.
Granted, what these guys seem to have been doing was to fill up a rod with a bunch of heat almost like filling a bucket with a liquid, so that there's more heat on one end than the other, then looking at the density of heat (or "intensity of heat") at a given point, which is not really the modern definition of temperature. But then, of course they wouldn't use the modern definition of temperature, would they? Regardless, I'd say this more or less reflects their thinking about warmth and coldness, or temperature.
As for why someone wouldn't add scales to a thermoscope, I think it's a little subtle, and you have to put yourself into the shoes of someone from the 1600s or 1700s.
The problem with measuring temperature is a little different than the problem of measuring speed. Everyone knows that speed is a measure of how much distance something travels in a given time. But there are philosophical issues with measuring temperature. What exactly are you measuring? As you said, everyone has an intuitive sense of one body being warmer or colder than another. But what exactly does that mean? The modern definition,
$$
T = \partial{U}/\partial{S}
$$
is obviously of no help to someone pre-1600s.
The Oxford Handbook of the History of Physics gives a good description of some of the problems. First, you have to agree on certain "fixed points". It's obvious today that something like the freezing and boiling point of water works. But is it really that obvious? Before reliable thermometers, or even a definition of temperature, how do you know water always freezes at the same "temperature"? People tried a number of different fixed points before finding agreement. (Blood temperature, temperature of deep caves, melting point of butter, etc.)
Second, once you've come up with your fixed points, it's easy enough to just divide your scale up into 100 equal-spaced degrees, but everyone's scale was different in non-linear ways! There's a reason we use mercury in our thermometers. Once you make a thermometer that is based on a material expanding, like mercury or alcohol, you've essentially defined temperature to be tied to that material's rate of expansion, but materials don't all expand at a uniform rate! In other words, you can make two "thermometers" out of different materials that agree on your fixed points, but disagree in between! How do you know which one is the "correct" one if you don't already have a reliable thermometer (or a quantitative definition of temperature)?
These details were all worked out mostly in the 1700s. I think it's safe to say that before then, people's concept of temperature was similar to Oresme's, in that it was clear that some things are hotter than others, and one thing might feel the same temperature as another, but this was all a qualitative thing, similar to the sensation of pain.
(Edited to add more details and address the valid point made in the comments that Oresme might have been talking more about heat than temperature.)