Yes. Apple engineers played a significant role in developing USB-C.
Of the 79 engineers who worked on the original spec, 18 of them were from Apple. Intel had 24, JAE had 21, TI had 12 https://www.docdroid.net/uf3z/typec-pdf
Original Thunderbolt was by Intel, then Apple came up with how to use it with MiniDP connector. There definitely was more collaboration, but as a simple overview this works.
In 2019 Intel donated the spec royalty free to USB-IF
Of the 79 engineers who worked on the original spec, 18 of them were from Apple. Intel had 24, JAE had 21, TI had 12 https://www.docdroid.net/uf3z/typec-pdf