No, technical debt does not only come from taking shortcuts. I would even go as far as saying that most of the time it does not come from taking shortcuts.
- You wrote a perfectly engineered system in Cobold 30 years ago that was state of the art then? Well, now all your Cobold developers have retired and you need to add new features to that tool. It's tech debt.
- Your tool was built to support 100 users but now it needs to support 100M? It's tech debt.
- You were getting some data from the Google Stadia API? Tech debt.
- You're using a library that just got an important security update? Tech debt.
As another commenter pointed out, the term "debt" was wrongly chosen. It's not debt. It's stuff that used to be perfectly fine and due to no fault of yours is not anymore.