This is generally true but also if you watch authoritative-only dns server logs for text strings matching ACL rejections, there's plenty of things out there which are fully automated crawlers attempting to do entire zone transfers.
There are a non zero number of improperly configured authoritative dns servers out there on the internet which will happily give away a zone transfer to anyone who asks for it, at least, apparently enough to be useful that somebody wrote crawlers for it. I would guess it's only a few percent of servers that host zonefiles but given the total size of the public Internet, that's still a lot.