According to "Late Han Dynasty Records", the 1st "Altar" that being set-up was after Emperor Huan get onto the throne (which was abt 1800++ years ago).
In the records, it goes like this:
On the 18th year of Emperor Huan on throne, he grow great interest in Spiritual and Immortality actions. On the 8th Year of Yan Xi Period, he instructed his staffs to set up a Shrine in Country Chen Province Ku, for Lao Zi. On the 9th Year, he, went personally to pay respect to Lao Zi. During the ceremony, he uses Wen Chu (can be describe as study-table or book-rack) as Altar, Golden plated utensils as carriage for offerings, having a chair/seat with decorated stuffs like Hua Gai (an old form of umbrella, represent Grand and Royalty) and last, with Jiao Tian Yue (regard as the 1st form of Taoist Music).
So from here, we can know that actually the so-called 1st Altar was being set-up in abt 1800++ years ago, not only that, the Taoist Music was also being created at that period.
And why before that period, no Altars were being found?
In some records, earlier than Emperor Huan's period, such ceremonies were usually carried out in the field, "Altars" were usually made by soil/sand pile. The so-called "Priests" were all stood in-front of the soil/sand pile while they were doing their rituals.
(桓帝即位十八年,好神仙事.延熹八年,初使中常侍之陈国苦县祠老子.九年,亲祠老子于濯龙.文罽为坛,饰淳金扣器,设华盖之坐,用郊天乐也.)�