Historically, where do the concepts of Karma, Nirvana, Dharma and Samsara come from?

From a historical perspective where do the concepts of Karma, Nirvana, Dharma and Samsara come from? I'm aware that they predated Buddhism but do they come from the Vedas, Shramanic tradition or somewhere else? I appreciate that Nirvana might have started with Buddhism (maybe?) but this would be based on the concept of Moksha which definitely did predate Buddhism. If possible could people please refer to sources or reasonable authoritative sites with the answers.