Can pcos just form randomly? Can it be seen on a laparoscopy?

I went for a laparoscopy four years ago with a strong belief I had endo. My gynaecologist told me my ovaries looked completely healthy and I was fine. My new gynaecologist thinks I still have it and it could have been really soon to see the endo. However I also just got diagnosed with pcos after new symptoms occurred. Can pcos just randomly form? Or have I had it the whole time, but the symptoms started to play up? And if I have always had pcos, why wasn't it seen on the Laparoscopy? If he missed it, does they also mean there's high chances he missed endo?
Can pcos just form randomly? Can it be seen on a laparoscopy?
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