After a bit of online research, all I could find was the following perplexing statement made by R' Yosef Yozfa Segal in נוהג כצאן יוסף:
ובכמה קהלות מנגנים בכלי זמרים ונבלים וכנורים והוא ע״פ מ״ש רז״ל אין השכינה שורה אלא מתוך שמחה כמ״ש בדוד ויהי כנגן המנגן ותהי עליו רוח אלהים עכ״ל ומנהג ק״ק פ״פ שאין מקבלים שבת כל עיקר. רק קדמונים הקימו חברא קדישא שהיו מקבלים שבת. ועודם נוהגים שאחד מבני החברא מתפלל מנח׳ בבה״כ הישנה ואח״כ עומד החזן על הבימה ומקבל שבת. ואח״כ יורד החזן לפני התיבה ומתפלל מנתה לכל הקהל. ובבה״כ החדשה מתפללים מנחה באותו פעם שמתפללין בבה״כ הישנה פעם שנית ואין מקבלים שבת כלל כאשר הוא יסוד מנהגם. וגם בק״ק ווירמייזא אין מקבלין שבת
In some communities, they play instruments, lyres and harps, and this is that which Chazal said: The sh'china rests only where there is joy, as it says regarding David: "And it came to pass, when the minstrel played, that the hand of Hashem came upon
him." The custom of Frankfurt is not to greet the Shabbos at all; but our forebears set up a "chevra kaddisha" that would greet Shabbos. They maintain the
custom that one of the group says mincha in the old synagogue and then the chazzan goes up to the bima and greets the Shabbos. Afterwards, the chazzan descends before the lectern and recites mincha for the entire community. At the same time, the rest of the
community says mincha in the new synagogue and they do not greet Shabbos at all as is their basic custom. The community of Worms
also does not greet Shabbos.
Although this whole process he describes is quite strange, it seems that what he means by "mekabel shabbos" is at least similar to what we have as kabbalas shabbos, in which case it is clear that the communities of Frankfurt and Worms generally did not recite it.
This book was published in 1718, so perhaps not what you might include in "halachic authorities of the last generation", but still nearly a couple hundred years after the custom of kabbalas shabbos began.