Short answer: Yes, they did.
Long answer: Well, we still have to see.
Monday Night RAW did 2.5 Million viewers. Smackdown Live! drew in 2.2 million viewers.
The reason we need to see what happens next is two fold. The first reason is that the ratings are reacting to the immediate return of the McMahons to both brands. In reality, this is an artificial rating.
Second, we are headed into a holiday low point. There are no major changes that will happen on the next round of shows airing.