If so, which fetishes are documented? What was people's attitude towards them? Did they understand them at all? Was there any move towards a recognition or characterisation as we see today, or were they just seen as individual perversions/preferences?
There have been a few past AMAs from flaired users and mods on pre-20th c. pornography and sexuality which you may wish to read through. Needless to say some of the content therein is NSFW.
History of pornography 1400-1800
History of pornography and libertine Europe 1500-1850