This doesn't match my experience at all. Only really ossified organizations get to this state, even in Java-land. The amount of abstraction I have needed to put on top of Dropwizard in order to do literally everything I've ever needed, from websockets to web pages to file service. The underlying Jersey and HK2 system is simple, well-documented, and straightforward when I've needed to extend it, but these extensions are restricted in scope and easily testable to boot.
I see no benefit, in 2017, to using servlets directly. It's certainly not going to be easier to teach a new hire through look-at-the-code or look-at-our-minimal-doc instead of pointing them at the existing documentation and examples of best-in-breed tooling.