It didn't encourage REST either. It provided $.post but not $.del (since delete is a keyword in JavaScript) so one could even say it went against REST. I think it was orthogonal to REST, though.
Making a DELETE XHR was never the issue, browser support was. It's an issue that was impossible to paper over with a JS library alone, you needed backend integration. That's why Rails and similar frameworks at the time spoofed DELETE and PUT requests by creating a POST request with a special param set.
All browsers supported the verbs for years. IE7 had mostly full support (not PATCH though, annoyingly).
The problem was mostly backend related: most servers didn't support them. DELETE for example has been supported for over 12 years in all major browsers.
Ah, interesting, my memory is dusty. Now that I think about it, the limitations of <FORM> were front and center too: A Rails app wanted a "delete $X" page that didn't rely on JS, and the only way that was going to happen was with a <FORM>, which only supports GET and POST methods.
Yes, you're right, the best jQuery would be no jQuery. jQuery was basically a prototype for the next generation of browser features.