I would like to know the reason why hyphen is required before numeral with prefix.
mid-1990 pre-1950 ...
Thanks in advance.
It's simply an aversion to mixing symbols and words. The same aversion used to apply to suffixes as well and solved, rather illogically, with an apostrophe: 1950's. You still see that from time to time, but most modern styles have opted for the form 1950s.