The only thing that would have made the web not conform to HATEOAS were if browsers had to have code that's specific to, say, google.com, or maybe to Apache servers. The only example of anything like this on the modern web is the special log in integrations that Microsoft and Google added for their own web properties - that is indeed a break of the HATEOAS paradigm.
Say I as a user want to read the latest news stories of the day in the NYT. I tell my browser to access the NYT website root address, and then it contacts the server and discovers all necessary information for achieving this task on its own. It may choose to present this information as a graphical web page, or as a stream of sound, all without knowing anything about the NYT web site a priori.