Body hair removal has been a thing going back into pre-history. Ancient Egyptians of both sexes for example removed all their body hair. Who the first people who removed pubic hair is question lost in time. But a number of cultures have maintained the practice going back thousands of years.

As to the renaissance women, we do know that at least some women were removing body hair. Caterina Sforza of Milan wrote a book in the late 1400s called Gli Experimenti. This was a book of "recipes" for cosmetics, household cleaning products, medicines, etc. It included directions for depilatory creams to remove body hair. And it was not the only such book in circulation. We have dozens of recipes for depilatory products.

The practice also shows up in popular fiction. For example Francisco Delicado’s 1528 romance novel La Lozana Andaluza, has multiple accounts of public hair removal, generally as comedic pieces such as when the protagonist Lozana, burns off the hair of a noblewoman from Bologna. So it was apparently common enough that it wasn't too crazy to imagine multiple women going to a prostitute to learn how to do so, but not so common that they would already know.

Ultimately we can't express pubic hair removal as a percentage in the renaissance era. We can't compare and contrast the styles in London, Paris, and Milan. We don't know if 1%, 10%, or 90% of women were removing their public hair. But it is mentioned as being something that was done.