I probably have some part of this wrong but I can find almost no complete info about it online; I'm sure someone will have corrections, I will add them if you leave a comment.
I've been wondering for years: how is it possible that an ISO can be written to a USB drive and booted on a PC, just like that? First three guesses don't count, mine were all wrong.
I was wanting to address this while writing the original post because I kept saying "ISO" over and over and started wondering if that sometimes really means "UDF," but I didn't have the time at the time. In short though: when it comes to OS discs... probably not, usually?
UDF is quite old (1995, apparently) and it always seemed like it's basically the successor of ISO9660. It's universal on DVD video discs, or at least I thought it was; I don't want to spend time digging up the standards for this but it sounds like practically speaking, all DVD movies use UDF, even if that's not technically required by the spec. But beyond that, I had been under the impression that ISO9660 had not been extended to the DVD format, and that all data DVDs needed to use UDF. This is not true at all.
ISO9660 works just fine on DVDs, apparently. I checked Ubuntu and Fedora ISOs and they use it, although, it turns out that Windows 10 distribution ISOs use UDF. I suspect this is more NIH, in both directions; I've picked up some hints that UDF authoring tools on Linux are Not The Best, whereas Windows has had rich support for decades. It may also be for compatibility, idk.
I tried googling things about "why linux iso not udf" and got nothing other than SE posts about how to author UDF discs, so I don't know why it's done this way. That said, it shouldn't matter too much; UDF discs use an identical disc header to provide ISO9660 backwards compat, so the same trick is still viable.

