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1630s, "to mark out, distinguish" modeled on French remarquer "to mark, note, heed," formed in Middle French from re-, intensive prefix (see re-), + marquer "to mark," probably from a Germanic source, cf. Old High German marchon "to delimit" (see mark (n.1)).
Meaning "take notice of" is from 1670s; that of "make a comment" is first attested 1690s, from notion of "make a verbal observation" or "call attention to specific points." Related: Remarked; remarking.
1650s, "act of noticing; fact of being worthy of comment," from remark (v.). Meaning "a notice or comment" is from 1670s.