Since the daughters of Tzelafchad had to ask whether they may inherit a piece of Eretz Yisrael like the men doesn’t it seem like God "forgot" to think of them and only gave a Psak after he was asked?

The Midrash (Yalkut Shimoni Pinchas 773) picks up on your question and answers that Hashem deliberately brought the merit of revealing this Halacha of inheritance through these meritorious righteous Women.