The answer you seek is to be found by looking at the commercial relationship between Prophesee and Sony.
If you take the time it will provide you with an understanding of the product development timeline even for a simple event based sensor.
Following this commercial relationship will require you to go back at least to 2020 when the first public announcement was made by these companies about partnering to develop their product and understanding from that announcement that both parties had been engaged well before going public.
I feel sure you will find the answer you seek by pursuing this course of action.
My opinion only DYOR
Fact Finder
Revenue, page-4
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