We had the opportunity from the millennia before that to experience a starry night sky and invited us an inspiration and an awe.

网友是不是抄错了句子？

该句从结构上判断，就是错句。句子主语是 We，其宾语不可能是 us ，只能是反身代词 ourselves。所以，无论跟 had 并列，还是跟不定式 experience 并列，都不能有 us。

根据意思，应该是跟不定式 experience 并列，那么，这里必须使用原形动词。我猜测，invited us 应该是一个动词 initiate （激发；引起）。

We had the opportunity from the millennia before that to experience a starry night sky and initiate an inspiration and an awe.