The Gerudo have made no confirmed appearances in the Unified Timeline before Ocarina of Time, so it is unknown when and how the Gerudo race was first established.
However, Groose, a Hylian from Skyloft Town in Skyward Sword, has both the red hair, bronze skin, and amber eyes common of the Gerudo but rare among Hylians, indicating that he might be related to the Gerudo people. He may be an ancestor of future members of a Gerudo race that had not yet been established. Another possibility is, if like the Sheikah people the Gerudo people existed before the creation of Skyloft, Groose may be one of their descendants. If this is the case, the appearance of Malon in Skyward Sword would also make more sense, as her mother is confirmed to be a Gerudo in all her other appeaeances. Ganondorf's birth is also alluded to in Demise's final words. In Ocarina of Time, the Gerudo live in the Gerudo Desert, specifically Gerudo Valley, which is located in the northwest of Hyrule.