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Wiktionary looks comprehensive, and it also has etymologies going back to Proto-Germanic, Proto-Indo-European, and other protolanguages. It also has word inflections, including reconstructed protolanguage inflections.
I recently got the idea of looking at words for "bridge", because of German Brücke being a cognate, but Latin pons and Slavic most not being cognates.
English bridge < Middle English brigge < Old English brycg
Cognate with Dutch brug and German Brücke, and descended from reconstructed Proto-Germanic *brugjôn and Proto-Indo-European *bhrew- / *bherw- “wooden flooring, decking, bridge”
Latin pôns, pont- "bridge" is obviously not cognate, and the Romance languages all have descendants of it: Italian ponte, Spanish puente, Portuguese ponte, French pont, etc. Romanian punte is a small bridge, and the laguage's more general word is pod, a borrowing from Slavic. They are all descended from the accusative or direct-object form pontem, something typical of Romance nouns descended from Latin ones that ended in -s.
That one is descended from PIE *pent- "path" with such descendants as English "to find" and Proto-Slavic *poti "way, path" with descendants pot / put / ... A derivative word is putnik "traveler" a derivative of that is sputnik "fellow traveler, satellite of celestial body".
The Slavic languages have most / mostu / mist, descended from Proto-Slavic *mostu. Likely from PIE *masd-to-s “aggregate of timbers/boards” and related to *mazdos "pole, mast" with descendants like English "mast"
Scottish Gaelic drochaid and Irish drochead are descend from Old Irish drochet, a compound meaning "wheel path".
The Modern Greek word for bridge is gefira, from Classical Greek gephura, with dialect variants bephura, dephura, diphoura. Its origin is unknown, but its suffix -ura suggests that it's from some pre-Hellenic language.
Armenian kamurj may have the same origin.
There's also a Sanskrit word for bridge, setu.
Though all the earlier dialects had words for bridge, most of them are unrelated, meaning that PIE had no clearly-reconstructible word for bridge.
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I looked in other language families, and I found that the Finnish word silta was borrowed from a Baltic Indo-European language like Lithuanian, with tiltas. For Semitic, we have Arabic jisr, Aramaic gishra, Hebrew gesher, and Akkadian gishru. In Arabic, g > j often happened.
Proto-Turkic had *köpürüg, with descendants like Turkish köprü, and it was likely borrowed into Mongolian, which has güür.
I couldn't find much else that indicates much prehistory. Seems like making enough bridges to have a word for them is something that is not far before having written language.