Technically yes, but not really. The only requirement is two $0.001 resistors on the CC lines, giving you 500mA @ 5V. You can get up to 3A @ 5V simply by measuring the voltage the charger puts on the CC lines, so that can be done in $0.05 in parts.
Getting the full 5A @ 20V experience is possible with a chip costing less than $0.50, so even that isn't too expensive.
there's enough cheap parts floating around now that offer standalone conversion from USB-PD to raw DC voltage. if customers are preferring USB connections, OEMs will find a way to implement it.
I took a few of those USB-PD decoy boards and soldered them to some universal power jacks. Now I have a home kit that can power any legacy barrel-jack devices. I did have to label each cable with the hard-wired voltage so I don't mix them up.
Barrel jacks already have extra circuitry in quite a few of them. Dell is notorious for this; if you use a non-Dell charger it won't even let you charge your laptop.
Getting the full 5A @ 20V experience is possible with a chip costing less than $0.50, so even that isn't too expensive.