So to sum it up: I really did enter a passphrase and I just didn't remember or write it down because I thought I could recall it from memory--it was really a facepalm moment when I received the password from Dave.
Great that you managed to recover your coins! Some suggestions for moving forward:
Obviously your current wallet is no longer secure and you should move all your coins to a new wallet. You did well in backing up the seed phrase on three separate pieces of paper, but you should also back up your passphrase (if you choose to use one this time) on separate pieces of paper. There is no point backing up your seed phrase and passphrase on the same piece of paper, since then the passphrase is adding nothing. And as I said before, once you've created your new wallet/seed phrase/passphrase/back ups/etc., make a note of the first address in your new wallet, then reset your Trezor or delete your wallet file, recover from your written back ups, and check the first address is still the same. Only then, once you are confident your back ups are correct and complete, should you then send coins to that new wallet.