Yes it is. But, the starting point was this - Blender 2.49:
Possibly the least discoverable user interface known to man. See that toggle button just called ‘A’ as an extreme example.
Other examples are things like this X button, which of course has nothing to do with the X axis - the examples are many.
Prior to Blender 2.30, there were no menus, so users would have to know all the keyboard shortcuts by heart as literally the only way to perform actions. Also no undo whatsoever. In case you made a mistake, you had better have saved.
In Blender 2.79, the current version just a year ago, if you would simply click on objects in the viewport, it would not select anything. Instead, it would move around a lifebuoy symbol. To select items, you would have to use the right mouse button, if your mouse even has one.
Contextual menus would appear not by pressing the right mouse button, but by pressing the W key on the keyboard.
So, with the above in mind, I think you’ll agree that at least things are becoming more discoverable over time.