So, no, the beers back then did not taste similar to today's beer. I would say that lambics might be the closest reflection to a style that is close to "back in the day". (http://lostbeers.com/lambic-the-real-story/) Even then, the link between today's lambic and the past only goes to the 1700s at best, and it's not clear how representative it is (at least what I can see from skimming the linked blog with Google Translate's help -- https://lambik1801.wordpress.com/).
There are also plenty of technical differences between brewing now and brewing then that would make for a different taste. It was probably a bit sweeter (less attenuation), possibly spiced different before the 1600s, possibly smoky until coal drying came into the norm, probably dark until pale malt was developed in the 19th century, probably had more room for sour notes (before pure yeast cultures were developed in the late 19th-early 20th century), etc.
[1]https://www.atlasobscura.com/articles/all-beer-tasted-like-s...
Not specific to Belgian/German beers, but I found this interesting: https://www.reddit.com/r/AskHistorians/comments/2vo36v/durin...