I believe you are not getting a focused definitive answer because there are indeed multiple schools of thoughts..
I understand that some contend that freedom of a woman is to shed her clothes, but I'd argue there is great subjugation in that.. further if you follow the last verse I enclosed from the Quran.. stating' to cover as to not be harassed' compared to the christian view
1 Corinthians 11:3-12)
The head of every man is Christ, and the head of the woman is man, and the head of Christ is God. Every man who prays or prophesies with his head covered dishonors his head. And every woman who prays or prophesies with her head uncovered dishonors her head—it is just as though her head were shaved. If a woman does not cover her head, she should have her hair cut off; and if it is a disgrace for a woman to have her hair cut or shaved off, she should cover her head. A man ought not to cover his head,[a] since he is the image and glory of God; but the woman is the glory of man. For man did not come from woman, but woman from man; neither was man created for woman, but woman for man. For this reason, and because of the angels the woman ought to have a sign of authority on her head.
you'll see the Islamic view is really more dignified in request but not outlandish to conventional wisdom be it, Jewish/Christian or pagan -- which is for a woman to don dignified modest wear, that won't subjugate her or make her subject to molestation and harassment as per suret Al ahzab..
I don't personally know what they physically wore during the time of the prophet, I do know before Islam folks used to go around naked at times, even in Mecca where they had their idols. donning clothes was left of folks of privilege.
In Islam we aren't allowed to depict human figures least of which of messengers, or holy folks, so we can only imagine from description what they wore...
the root of the word as per dictionary is to cover, and folks can cover in different ways so long as it is done..
When I wear a scrub in the OR that is a form of khimar
but you can't really use this form of khimar out on the streets no?
eh time for me to break fast
cheers