Did the Qur’an at one point tell Muslims to worship al-Lat, al-Uzza and Manat? ?

No, but in the hadiths, it does. The hadiths provides the context of what happened. Its a true period in Muhammad's life, most muslims know about it, but they don't like to hear about it. Its called the Satanic Verses, where Muhammad claimed that he spoke on behalf of Satan.