The cities of Osgiliath and Minas Anor (as Minas Tirith was originally known) stood in Gondor from its earliest days. There must surely have been a road between them and, presumably (given the marshy nature of the land approaching Osgiliath), some kind of raised causeway. In at least a general sense, then, the Causeway would have existed since Gondor's earliest times.
Much later in Gondor's history, Steward Denethor built the wall of the Rammas Echor around the Pelennor Fields, and after this time the Causeway road ran up to a gateway in this wall guarded by the two Causeway Forts. This association with the forts on the new wall might be taken to suggest a much later date for the making of the Causeway.
According to The Return of the King V 1, Minas Tirith, the Causeway ran from Osgiliath and '...passed through a guarded gate...' (our emphasis). This is hardly conclusive, but the use of 'through' here implies that the roadway might already have existed when the gate was built. On this reading, the Causeway would have predated the Rammas Echor (conceivably by thousands of years), with the Causeway Forts being named for it after their later construction.
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