Yes. With Adam and Noah new beginnings necessitated incestuous relations. By Moses, it was not needed, and the restriction was stated.
The problem of incest is blood lines. Incest is still quite common in European royal families and in the wealthy aristocrats of the world who want to keep the wealth in the family. For the royals, they promote the myth that they are descendants of Christ through Mary Magdalene, so it is the continuation of the "divine" bloodline.
Up until the time of Christ, genealogies were kept, first with the line of Seth, then the line of Shem, Abraham, Judah, David and his descendants because the promise of the Messiah was given to them. Thus incestuous marriages, not immediate per se, but 1st, 2nd, and 3rd cousins, were kept looking forward to the Messiah.
But the Messiah has come. Now the bloodline is passed on spiritually through the new birth. All who are born again have joined into that blood line.
So, today, there is no need for incestuous marriages. The European royals are in truth, Luciferians and believe that the new Messiah, which we call anti-christ, will come through their line, along with the wealthy aristocrats.