In fact, with DSLRs it was basically the same procedure, despite they had a separate AF sensor (for shooting with OVF). The camera needs a reliable info about the AF drive's exact position to able to focus fast and accurate. The difference is that ML cameras, using their image sensor, can reside to simple contrast AF if other information is lacking, but that requires AF pumping and slows down the whole focusing process so much that you can forget about shooting action.
With our Nikon Z system it turned out that the camera received a wrong information about the real AF drive position, so the lens was mechanically not adjusted to the camera. I don't know how Canon's AF system works exactly (surely details are protected), but seemingly it delivers more information about the AF drive's exact position so the camera can adjust its AF system to a particular lens. This explains also why some older EF lenses don't work very well with the new R cameras. I recently sold my old EF 300mm f/4.0 L IS USM, which still was in good condition, because it pumped too much on my R7 and R52, it wasn't really useable anymore with AF switched on. So, this old lens is obviously not able to send enough data to the camera for any AF adjustments.