Yes. To note, Apple still had its arm wrestling moments, famously with Microsoft and Adobe, where Apple wanted the apps devs to move on and got a resounding "nope" in return. That resulted in the Carbon API for instance lingering on for a while, but they could still manage a transition and deprecate it.

Just thinking about the two processor architecture transitions and the whole OS7 -> OSX switch, they really have an expertise no other company seems to even get close to.

Offering emulation where compatibility is broken definitely helps.