Yeah they did. Notably, Microsoft did it.

Source: me. I spent 3 hours at the Venezuelan Embassy in London trying to get Microsoft Works for DOS to accept a new printer driver. I had the driver disk (in UK English) and I had Works and DOS (in LatAm Spanish.)

(My Spanish boss gave me the job, porque yo hablo un poquito de Español.)

MS Works wouldn't register the driver, whether installed, or manually decompressed and copied.

Eventually I worked it out. English-language Works called printer drivers `.PRD`, for "Printer Description" or something like that. Spanish-language Works called them `.DIM` for "Descripción de Impresora" or words to that effect.

Rename `OKIDAT24.PRD` to `OKIDAT24.DIM` and Spanish Works immediately saw it and the printer could be selected in Preferences and it worked perfectly.

Yes, filenames and even file extensions get translated sometimes.

Note for those too young to have used MS/PC/DR DOS: it did not have printer driver support, at all. It sent plain text to the PRN: or LPT1: port device, and nothing but plain text.

(OK, or LPT2: or LPT3: -- but I don't think I ever saw a machine with multiple selectable printers. It was cheaper and easier to buy a physical printer switch box and turn the dial than fit an extra ISA card with a Centronics port, and then configure it to have its own IRQ line.)

Apps did that for themselves. So, each DOS app had to have its own dedicated printer drivers.