c. 400–200 BCE
Six Darśanas take shape — Sāṃkhya, Yoga, Nyāya, Vaiśeṣika, Mīmāṃsā, Vedānta
The six āstika (Veda-accepting) philosophical schools systematise their core positions. Patañjali's Yoga Sūtras (c. 4th–2nd century BCE or earlier) codify the eight-limbed Yoga path. Bādarāyaṇa's Brahmasūtras summarise Upaniṣadic teaching in 555 aphorisms — the foundational Vedānta text on which all later commentaries are written.
Flood (1996), Chapter 8; Bryant, Yoga Sūtras (2009), Introduction