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The Cervelo Soloist is the first aero road bike, I think. The Giant TCR did actually have some aero considerations, e.g. the aero seatpost, the fork was pretty deep, there was a small cutout to presumably fair the rear wheel. The first edition of the Madone also was claimed to save a few watts.
For endurance road bikes, I think the Specialized Roubaix in 2004 has been described as the first, or one of the first. The potential problem is that I think that there's a category of fast touring bikes that roadies would have shied away from that overlap some with endurance road. Anyway, the Volagi (short lived brand, ex-Specialized engineers, got sued by Specialized, Spec won $1 in damages) may have been the first disc brake endurance road bike with pretty wide tires, I think.
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