Yeah, but there were definitely incompatibilities with every speed increase. When 28.8k modems were coming out, the spec was not set yet, so several vendors released early versions (anyone remember v.fast?) and then updated the modem firmware later when the standard was set. And then when 56.6k modems came along, USR had X2 and Motorola and others had K56flex. About a year later, v.90 and v.92 came along to standardize everything.
If you were an ISP, you had to support everything. For the 56.6k stuff, I remember us having two separate dial-in pools for X2 and K56flex.