Not everyone has it even initially; it really varies from person to person. I suspect that to some extent it is influenced by past exposure to fast-paced first-person games (e.g. FPS when played using the mouse).
I used to get nausea when playing Doom in the nineties, it never got better. But I never get nausea from fps games with slower movement. I suspect the problem with Doom is how quickly you can change direction while running. You can run quite fast and a 90 degree turn doesn't slow you down at all.
In pretty much any FPS that allows using the mouse to turn (which was already the case even in Wolf3D), you can turn as fast as you can move the mouse. When playing competitively, and with experienced players in general, it is common to set mouse sensitivity rather high, allowing one to perform very fast - but still highly precise! - turns, either to follow the target, or to switch rapidly from one target to another, or to scan the area etc. Really good players can do what's known as a "180 quickscope" like that, which is exactly what it says on the tin - a very rapid 180 degree turn & aim to shoot someone you know is behind you. Example: https://www.youtube.com/watch?v=UEC4AE6KbxY
If you don't have experience doing this yourself, watching such a player over the shoulder can be very nausea-inducing. I think to some extent this is innate, but I suspect for those who don't have a strongly pronounced response to begin with, playing such games (and doing those rapid turns yourself) desensitizes you over time. And I think that also transfers to VR to some extent; I've been playing first-person shooters with WASD+mouse for ~30 years now, and I had no nausea whatsoever the first time I tried VR.
Doom does some weird stuff with FOV and how it renders the environment though; newer FPS games have "real" 3D graphics, Doom used some interesting tricks to make things look 3D. The Quake engine was iirc the first "real" 3D engine.
Quake was the first widely popular "real" 3D engine, but ironically the first game in the series being discussed in this thread, Descent, pre-dated it by around a year with fully 3D graphics in 1995.
> The Quake engine was iirc the first "real" 3D engine.
There were many 3D engines before Quake. You had a bunch of Micropose combat flight sims, a ton of 3d driving games, even Elite on the BBC micro.
Hell, I'd written some 3D graphics on the Atari ST before Quake.
Quake was the first 3D texture mapped, dynamically lit, first person shooter...maybe...depending on your definition. It was certainly one of the first to have that ran at frame rates around 30fps.
As others have said, Descent was also around the same time too.
For me there was practically no sickness at all, first time I used the headset I felt a little weird after an hour, and after that had no issues playing a variety of genres, with no teleportation.
Okay except that one time playing COMPOUND. By accident I moved the analog stick to the left while turning my head to the right, and the image moving the opposite of what I expected made me feel bad. I finished the level there, and then had to go rest for a couple of minutes and stop playing VR for the day.
tl;dr for some people it almost never happens, until it does.