No. The Ultimate Toy Box was also direct from computer files; I remember that it was definitely publicized at the time that it was straight from the files, while previous video releases had been from film.

AFAIK, A Bug’s Life was the first Pixar transfer to come straight from the animation files and bypass film (I also remember that publicity). So the highest-quality film-transferred version of Toy Story would be the laserdisc.

If you look at that comparison video, find a scene where the camera is static and focus on some stationary object in the background. I detect just a bit of wobble in the LD. So yes, 100% sure it’s film. That doesn’t mean that’s how it looked in theaters, video transfers always come from low-contrast elements, but still.