Absolutely. If you ever used a web browser (one that understands HTTP and HTML), clicked a link on any website, or submitted a form, you've most likely benefited from REST. Here's an example: https://news.ycombinator.com

So this site, among other things:

* Until recently, used stateful numbers for all links * Uses the same location for different resources (e.g. https://news.ycombinator.com/item) * Serves the same resources at multiple different locations, rather than redirecting you to a canonical location. * Does posting, editing and deleting via POST, not CREATE/PATCH/DELETE * Does approximately no content negotiation * Does not support non-browser clients at all, which, well I suppose you could make a perverse argument that that is HATEOAS.

In short, it behaves not at all like the system described in the REST paper.