This is no longer true.
From RFC 9112 § 9.4 (https://httpwg.org/specs/rfc9112.html#rfc.section.9.4):
> Previous revisions of HTTP gave a specific number of connections as a ceiling, but this was found to be impractical for many applications. As a result, this specification does not mandate a particular maximum number of connections but, instead, encourages clients to be conservative when opening multiple connections.
When index.html loads 4 CSS and 5 JS : 10 ressources in HTTP 1.0 needed 10 connections, with 10 TLS negociations (unless one ressource loaded fast and you could reuse it's released connection)
With HTTP1.1 Pipelining you open only one connection, including a single TLS nego, and ask 10 ressources.
Why not only 1 per domain so ? IIRC it's because the 1st ressource index.html may take a lot of Time to complete and well race conditions suggest you use another one that the 'main thread' more or less. So basically 2 are sufficient.
While server capacity in every dimension has increased the low connection count for browsers has remained. But even today it's still a bit of a courtesy to not spam a server with a hundred simultaneous connections. If the server implicitly supports tons of connects with HTTP/2 support that's one thing but it's not polite to abuse HTTP/1.1 servers.