The new protection schemes were the entire reason for new firmware versions to be released. If there were no new detection schemes put into play there wouldn't ever be newer firmware versions. The number of revisions to the optical firmware hacks are all the proof you need to know they were never "safe".
Maybe you didn't get into it until the later years then. I was there before they ever had the first Xbox-Live ban wave. There have been at least 4 large ban-waves that have hit every single firmware version out there, even the "latest and greatest at the time".
I used it since the Xbox 360 that are prone to rrod. But then it got rrod, then I buy a revised Xbox 360 that's still alive last time I used it to transfer saves.
The newer DVD drive firmware does provide safer protection. IIRC one of the main features of the updates was to allow you to use unsafe pirated disc safer.
But they still recommend to use safe pirated disc, instead of the unsafe ones.
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IIRC every time Ms updated the game protection, new custom firmware will be released, and new "safety guide" for pirated disc's also released.
I never use unsafe disc, I never use games with new protection without updating the DVD drive first.
One of the new protection is making Xbox game disc a wee bit larger than normal dvdr dl. Some pirated games sellers keeps burning them with the old methods and guidelines (and Iso) that were unsafe.
Some pirated game sellers stays up to date, follow the safety guidelines. Like using known good dvdr manufacturer code that can properly be burned to the larger capacity (iirc it was Mitsubishi, often rebranded as verbatim)
Edit:
My ps vita and 3ds also didn't get banned. My switch do get banned. As I ignored all safety guidelines as it was too cumbersome. Nowadays the safety guidelines are much more nicer.