ANA: How did Ancient Greek cavalry operate without the stirrup?

J.Soth listening via youtube asks, how was all the intense cavalry action possible in ancient history? Thessalian diamond formation charge, companion cavalry charge/melee engagements, Numidian light cavalry etc. without use of the stirrup or more modern saddle technology? If it's all with a rope or cord and thigh gripping, then they must have had some seriously chiseled legs.

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