No. The paper covers this. The authors used D's fat pointers, scope, slices, @safe, and ownership/borrowing features to improve code safety.
It is trivial to turn off D's GC, and the authors did not use it in the project described in their paper.
> and many third-party libraries require this GC?
Yes, a lot of D libraries depend on GC, which means they wouldn't be available for use for kernel development.
The D compiler will error out if D code marked with the @nogc attribute depends on GC (or depends on code dependent on the GC), which makes going GCless easier.
Yes D uses the GC for lifetime issues currently, but it does not need it for doing bounds checking, escape analysis or preventing common issues surrounding pointers. All of which are very useful things to have with or without the GC.
Just those features alone would prevent some pretty big name issues that have cropped up in C code over the years.