No, that's not correct. It's taken from the same traditional martial arts that Tae Kwon Do used, but there is no "traditional Tae Kwon Do." It was developed in the 1940s and 1950s.
Both are lifting from the same ancient martial arts, but that's very different than Hapkido lifting from Tae Kwon Do.
And we're talking about an MMA cage fight between Snipes and Rogan, right? Are you really claiming no one ever grabs wrists in MMA? Someone better tell the announcers that they should stop constantly talking about "wrist control" in that case.
Plus the claim that Hapkido joint manipulation comes down to "grabbing the wrist" is an absurd contention.
Did you, perhaps, train in Tae Kwon Do, so were fed the Kool Aid about how it was actually better than other Korean Martial Arts and that the other arts stole from Tae Kwon Do?
My mom is Korean, so basically I have a story for every development in the history of mankind and how it was stolen from the Koreans.