Sweelinck is considered one of the first baroque composers. In fact, most his pieces are still very Renaissance style. One of his most famous pieces that sounds more baroque is Toccata primi toni, SwWV 286. I'm wondering if this can be considered one of the first baroque pieces to ever exist.
Link to piece: https://play.spotify.com/track/2rH6diTXm9krYqShQ4XfUV