Yes, I believe they did.
The images my 1D4 produces look very similar to those my 1D3 produced which I loved. By similar I mean tonally and sharpness wise. But now you have the added bonus of 50% more pixels, much improved ISO performance, the best LCD I've ever seen on any DSLR, even more configuration options, and the feature I found myself using on a model shoot yesterday more than I thought I would - the auto sensing AF point mode (it switches the AF point depending on the body's orientation).
While I haven't shot any action sports with it, the AF system seems quite competent and focuses very well in low light.
I couldn't be happier with my new body.
with the 1dmk4 being 16 mega pixs does it have the same IQ as a 1dsmk2? or better?