I fully agree with you that (static) types are inevitable for tackling rich/complex domains adequately. Personally, I would often recommend the use of TypeScript over plain JavaScript.
As for the book, when I started working on it, I was using plain JavaScript. Over the course of the past four years, there were times, when I considered to rewrite the DDD parts with TypeScript. My current plan is to add an appendix or integrate additional content about (static) typing.
While types are an important aspect for the Domain layer, I think the rest of the book works fine without TypeScript. Its absence might even help to keep the code example more concise.
> I'm curious whether you used plain JavaScript on the professional projects?
Yes, in both relevant projects we were using plain JavaScript (or CoffeeScript). We had many runtime type checks and a high test coverage to overcome the lack of static types. TypeScript would have definitely been the better choice.