Yes, but they used transistor output stages with those, you couldn't drive a loudspeaker with 12v HT valves.
So the evolution sort of went:-
'Ordinary' valves using 'high' voltage (i.e. 100 volts or more) with a vibrator power supply stepping up the voltage from the 12v car battery.
12v HT valves for the RF and IF stages followed by transistor output stages, all running off 12v.All semiconductor radios when RF transistors became available economically.