I was going to say yes, back in 2001. But thinking about it, it was actually an ADSL modem, not a router. My Windows 2000 box was p0wned in about 30 seconds!
Well, for an IPv4 only home router, you don't really need a firewall since the NAT acts as a natural firewall (though even models from the 90s have firewall specific features like fixed port forwarding). Which is why I think some people assume that the absence of NAT will imply the absence of firewall.