To my knowledge yes, "we" did. Actual measurements have turned out to be on the pessimistic end of the spectrum of predictions or beyond consistently. The first IPCC report that got really into doomerism was the one from 2021, that was supposedly leaked for fear of political censorship:
IPCC steps up warning on climate tipping points in leaked draft report
I meant scientists did too. They thought it would take way longer to turn bad than it actually did, at least most of them thought so. Would probably be interesting to do a meta-study on how much the corridor of estimates narrowed or widened in the IPCC reports over the years, and in which general direction they trended.