There was a real push, which must be approaching a decade ago at this point, to get all terminal emulators able to understand the ITU-T T.416 control sequences for direct 24-bit RGB colour. Even if they implement it really badly, and some do, almost everyone tries to support this colour system now.
See the screenshot of the old syscons FreeBSD kernel built-in terminal emulator at https://tty0.social/@JdeBP/110424206935120790 for what I mean by really badly. It still does understand the control sequences, though.