Did they?
The Church of scripture is one united ecclesial body (Eph 4:3-4; Eph 4:13-16; Jn 17:21; Mt 16:18) without schismatic divisions (1 Cor 12:25; Rom 16:17; 1 Cor 1:10;
Jude 1:19; Gal 5:20;
3 John 1:9-10), with one teaching for all the churches (Acts 15:22-23,25,28/Acts 16:4-5; 1 Tim 1:3; 1 Cor 1:10; Eph 4:5;
Jude 1:3), and one bishopric authorized of and by the apostles (
Titus 1:5) by the laying on of hands in ordination (Heb 6:2; 2 Tim 1:6; 1 Tim 4:14;
Titus 1:5), sharing ministers back and forth among all churches (1 Cor 16:3; Rom 16:1,3,9,21,23; Phil 2:19,25;
Titus 3:12), receiving one another in fellowship and in greeting (Rom 15:5-7; Rom 16:16; Col 4:10,12,14;
3 John 1:9-10), where excommunication removes individuals from this one body (Matt 18:17;
1 Corinthians 5:1-2,4-5), and which existed from St. Peter and the apostles unto today (Matt 16:18-19; Eph 3:21).
Protestantism, in Contrast, is an endless schism of divisions with multiple different teachings and authority structures, with no effective means of excommunication and no traceable Apostolic Lineage.
Pope Clement of Rome (late 80s AD) wrote a letter to the Corinthians, and the letter was in response to THEIR appeal to him to solve a serious doctrinal division they were having. So, even in the late first century there were apostolic Churches that were making appeals to the Bishop of Rome to settle grave disputes.
Only one group of Christians can trace its existence from the first century down to today: the Catholics. No protestant denomination traces its history back to before about AD 1500. So,
we know for a fact that no modern protestant sect has apostolic origins. Yet the catholic sect does, for it originated in the first century and continued in unbroken existence down to our times.
It has continued for 20 centuries now, and its doctrines have never changed. No other organization or government has lasted even beyond a few centuries.
Francis is, also without question, the 266th successor of the Prime Minister of the King, Bishop of the Church of Rome, an apostolic Church which appears in our bibles.