No it didn’t. You could skip ads with the remote at set intervals (notably, TiVo did not let you auto skip the ad even though they could have, but put 15 or 90 second intervals you could customize on the remote to get past the ads very quickly, but it recorded them). ReplayTV, which did more directly skip ads (via its remote, not via recording IIRC), was sued out of existence.

Dish’s Hopper actually DID do ad-free recordings and it was sued too (but there was eventually a settlement), not just for skipping the ads but for distributing the same copy of a recording to multiple users over a server. Cablevision, likewise, was sued (but settled) over the fact that it had a cloud DVR network that allowed the same copy of a recording to be available to multiple people, rather than storing X-Copies of the recording on their servers.

Later model TiVos can skip the whole break with a single button, newer models can auto skip https://explore.tivo.com/how-to/SkipMode