Of course they do. Like they wanted people to hack on OSX 20 years ago; and once they reached critical mass, they pulled up the drawbridges (dropping anything GNU, dropping Java, restricting access to the OS, pushing AppStore, etc etc).
Chances they're going to do exactly the same with M1 and its follow-ups are 99.99%... if anything because their management is largely drawn from the very same people who executed that strategy.
I can see both sides here - the viral nature of GPLv3 is anathema to a company like Apple, so simply walking away was inevitable; and people were exploiting loopholes in the GPLv2 (I have no idea whether Apple was, but there are documented cases of others doing it).
Contrast with Google and the infamous tweet about Android:
Federici has said in one of his interviews that Apple wants people to hack on the M1 machines so I’m hopeful that they will be more open than on IOS.
All of that said, I won’t hold my breath.