Generally speaking, yes: we don't remove things that aren't disproportionately burdensome. You can see that in the yearly analytics[1]: there are packages that only get a few dozen downloads a year, and we don't remove them because they don't cause any issues.
That's good to hear! I think small, well-maintained projects with loyal users can add tremendous value to a package ecosystem due to the long tail effect. I believe these long tail effects are a big part of the reason behind the staying power of tools like emacs, vim, and LaTeX.
[1]: https://formulae.brew.sh/analytics/install/365d/