Up until ~1980 the only connectors TV sets had were Belling-Lee type antenna in. So most VCR and next to all home computers did use RF modulated output toward the TV set (*1). This included even cable networks. While Type F connectors where used for more sophisticated equipment, households were still fitted with Belling-Lee. Professional equipment of the same time did use BNC type connectors.
RCA (Cinch), DIN or Tuchel connectors were, at that time, only used for audio. Especially RCA was rather rare in Europe.
Around 1977-81 several TV manufacturers did come up with proprietary connectors, often based on DIN 41524 connectors (the large ones). They all vanished in the early 1980s in favour of SCART, which was a quite nifty standard putting composite, component and RGB plus sound into a single connector. First of course at the higher priced models, but soon across all available TVs.
There were cheap imported VCRs offering only RF modulated and Cinch-component output (*2), thus Cinch to SCART cables became somewhat common. Similar Cinch inputs were only available on cheap imports - in addition to SCART.
SCART was the base connector for all TV sets until about 10 years ago (~2010), since then being replaced slowly by HDMI as main connector, but many sets still got at least one SCART input.
During the 1990s some sets included S-Video and VGA input. But that was more of a marketing issue, as SCART already featured all relevant signals to cover anything Composite/RGB/S-Video, so all needed was the right cabling.
With SCART the connection of home computers was a no-brainer. No matter if it was a C64, Atari ST or an Amiga, there were SCART cables for all of them.
*1 - 1979, I got an Apple II; I had to add an RF modulator, so I could use an old B&W TV. It wasn't until two years later when I did finally spend the money to get a 'real' monitor. Half the size, but able to do 80 columns :))
*2 - usually Japanese and Korean manufactured devices. It's safe to assume that they where mainly designed for the US/Japanese market.