There Were
For front loading, top loading, wringers, wash tub and any other type of laundry one could imagine. Dash, All, amoung other brands come to mind.
Indeed initally most all "detergents" were low sudsing, but housewives avoided them in droves since the prevailing wisdom built up over generations of using soaps for laundry was one needed to see a rich layer of suds to be sure the job was being done. Housewives didn't belive a detergent,which was suspect from the start because it wasn't "soap", could get their laundry clean without suds. So Tide and others added surfactants to create froth, and sales picked up.
FWIW sudsing levels are NOT an indication of cleaning power when it comes to laundry with man-made surfactants, versus pure soap, and happily for the American laundry market, top loading washing machines aren't affected by high foaming detergents, so they mostly took over. Controlled sudsing detergents like All, and Dash did have market, especially with front loading and other washing machines that recommended use of a low sudsing detergent.
Most detergents, both high and low sudsing had directions giving dosages for all types of washing machines then in current use. Wringers, Top Loading, Front Loading, Twin Tubs, etc. Indeed can remember seeing such directions on detergents from as late as the 1970's. But as wringers, twin tubs and even front loading washing machines became less and less a part of the market, those directions for the most part died away.
Yes, the directions did state one was supposed to use less product depending upon type of washing machine. With high sudsing detergents one had to be careful, but remember vintage front loaders used much more water than today's machines, and had many more rinses, all the better to cope with froth.
Today some persons still use regular detergent, though in smaller doses in their front loaders and apparently without problems. Have done so myself, but found certian HE detergents such as Persil simply rinse better.
L.