Not really, if you read now the D&D5 rules

"typical combat encounter is a clash between two sides, a flurry of weapon swings, feints, parries, footwork, and spellcasting. The game organizes the chaos of combat into a cycle of rounds and turns. A round represents about 6 seconds in the game world. During a round, each participant in a battle takes a turn."
Maybe D&D5 is based on the mecanics of Baldur's Gate ?

Sigh.
D&D is turn based because the players could not all react fast enough to be in real time; they'd be shouting over eachother.
So D&D is a turn-based system meant to mimic real-time combat.
BG3 is using a..say it with me, children 'turn-based system meant to mimic real-time combat'.
It's easier to use for many people, and more popular than the RTwP rage-machines would want anyone to believe.
And D&D was created in 1974. Any, and indeed MOST, RPGs take something from it. From 'stats' to dice rolls.