Was it considered as undesirable (for women especially) as it is in modern times?
I believe this type of question is not allowed here.
But to answer your question, there were many plant-based hair dye available and little has changed between Roman time and the late 1800's. Commonly used dye include indigo (black), black walnut (dark brown), turmeric (yellow) and henna (auburn).
As a side effect of aging, grey hair has never been desirable. For example accounts of execution of Madame DuBarry often mentions she was still considerably attractive for her age as her golden hair was barely streaked with gray (she was 50 at the time). Portraits of Marquis de Lafayette as an old man often showed him with obviously dyed hair.