Sure, as have many companies. Almost everyone is replacing the numerous tiny housekeeping CPUs in modern chips with RISC-V.
Samsung said in December 2019 that their upcoming phone (Galaxy S20) has two RISC-V processors: one controlling the camera and the other the 5G radio.
That's quite different to replacing the main user/app-facing application processor cores.
Apple could well already be converting the main processors in products such as the Apple Watch, AirPods, AppleTV to RISC-V. Or not. Those products either aren't user-programmable, or else apps are uploaded to Apple as LLVM bitcode, which Apple can then compile to machine code for any CPU they desire.
> why generically a large computer company like Apple would choose to license an ISA at all
Because while an ISA is relatively easy to design (but many many people have still made awful ones) that is only the easiest part of the process. The biggest job by far is writing or porting all the necessary software, starting with compilers.
And there is simply no benefit in making a new ISA. Historically, the usual reason was that other people owned the ISA and wouldn't license it at all, or it cost too much, or you couldn't make any modifications to it.
Going forward now, with RISC-V existing, all those reasons disappear. It's not massively technically better than the Arm ISAs, but it's not worse either, and the FREEDOM aspect is unbeatable. There is really no reason at all for anyone in future to make their own ISA and software from scratch when they can just start from RISC-V and add their own special features. Not unless they are doing something absolutely radically different to every existing and historical computer.