The Legend of Zelda

I’m confused on the story in Totk. I know totk is after BotW, but I’m curious about the other events in the game. The game talks about a war, which is the imprisoning war. This would put it squarely in the “hero is defeated” timeline before the events of a link to the past.

“7 sages seal away Ganon in the imprisoning war”

What is confusing me however is that Rauru is claimed to be the first king of Hyrule. Hyrule however was founded well before the imprisoning war. It was actually founded shortly after the bandaging of the twili and sealing of the sacred realm. Now, in the timeline it states that sage Rauru seals the sacred realm to protect the tri-force. But that isn’t the imprisoning war, nor do I think it’s the same Rauru. But it also states that Skyward Sword Zelda’s descendants founded Hyrule shortly after the sealing of the sacred realm. Skyward Sword Zelda wasn’t a Zonai though.

Does anyone understand the timeline enough to explain what I am missing? It just feels like Rauru is too many people