Charles Verral has written:

'Servius Tullius, King of Rome'

Servius Tullius was the sixth king of Rome. He ruled from 578 BC until 535 BC, during the Legendary period. This period of Roman history came before the Roman republic, which was established in 509 BC.

There is a discrepancy in the history of Servius Tullius. One tradition says he was born in Etruria under the name Mastarna and accompanied Caelius Vibenna to Rome where he usurped power - this explains why he never had a lex curiata. In a different telling Serivus Tullius grew up as a servant in Rome and when his hair caught fire as a child, the queen at the time took it as an omen that he would later become king. After the king died, the queen kept it quiet and ensured that Servius Tullius became king even though Tarquinius Priscus had a son.

idk LOL XD I CAME HERE TO GET THE AWNSER MYSELF

The first Roman census took place during the reign of Servius Tullius, the sixth king of Rome, which would have been sometime during 578-535 BC. The exact year is unknown.