Historically, was there ever a culture that did not have a form of worship?

Question

And would not even have understood the concept? Or is worship innate to humans?

Answer 1

Following the confusion of the languages at Babel, mankind spread over all the surface of the earth. (Genesis 11:1-9) With their innate sense of the divine, humans sought to draw close to God, with whom they were less and less familiar, ‘groping’ for him blindly. (Acts 17:27; Romans 2:14, 15)
Since Noah’s day many peoples have built altars to their deities. Religions and peoples have used altars in false worship. Being alienated from the true God Jehovah,(Psalms 83:18) Historically some have used altars for horrible rites involving human victims, even children.

Answer 2

One of the things that anthropologists have not been able to find is a culture without religion, which includes ritual.