Baking is needed to prevent issues during assembly. If the boards are already assembled, why bake them at all?
Exactly!
Baking is to dry out packages so they don't crack (externally or internally) during soldering from trapped water vapor and water soaked material expanding differently.
If OP already soldered them, damage is already done, or if components were reasonably dry or OP was lucky nothing wrong happened.
MSL3 is one week at max 60% humidity at max 30°C.
It depends how long were the most sensitive components out of dry packaging, and what was air humidity at the time.
I have very dry air sometimes in my lab, less than 30% (my problem is static electricity, so need to humidify, and use ESD precautions).
I can keep components open for much longer periods, no problem..
Hard to know now. Worst part is that they might test OK and fail later.