The two most important means of communication that don't involve speech, writing, or body language are art and music. A third, unless you count it as "body language", would be dance.
Drawings have been a part of human society for tens of thousands of years. The oldest known drawings were found in a cave in the UK, and dated to 40,000 years old. We believe they were drawn by Neanderthals.
As far as we know, song and dance are also tens of thousands of years old, but since they didn't leave artifacts behind we aren't as sure how far back they go. The earliest known music was in about 4,000 BC; but we only know about it because people wrote about it, and there was probably a lot of music for millennia before that which people simply never wrote down.
All three of these arts are imprecise in what they can convey; they can be used to share experiences and emotions, but the audience may not interpret them the same way as the creator. Song and dance have the added drawback of being ephemeral; at least until we started writing them down (and later recording them by other means), they would simply disappear once done, and so in order to share them with others you had to remember them and repeat them. Speech is more precise than art, but like music it is also ephemeral. This is why humans invented writing; it gave us the precision of speech with the durability of art. And indeed there is no clear moment at which writing was invented, because there was a gradual transition from drawings to pictograms to ideograms to alphabets, and even today there is calligraphy and font design---so at what point did it stop being art and start being writing?
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