I think that the poster was saying that the popups themselves as a concept were never recommended nor required by the regulations.
Yeah I guess the word "require" has a few interpretations. The regulation didn't explicitly require popups, it required user consent IFF a company wants to collect/process/sell data the company doesn't need, but the intent was that companies would not do this, with consent being the exception, and the mechanism of consent was neither prescribed nor a focus: it certainly wasn't annoying popups per reg.
Only when deceptive patterns became clear the EU made clear that allowing one simple "ok" option and a million convoluted ways to say "no" is not resulting in informed consent.
Wheter you us a popup or hide it in a menu with the default of not tracking does not matter.
I mean the EU published a guideline on what it calls deceptive design patterns. They are quite clear there with what is unacceptable (link to PDF): https://edpb.europa.eu/system/files/2023-02/edpb_03-2022_gui...
When even Google felt they had to make "reject all" equally big and not hise it in a sub menu, you know that everything else is likely not legal.
¹: whether you use cookies for it or not doesn't matter