All the bolt carriers in the early ARs were the M16 type, including the ones in the semi autos. Not sure just when, after the 70s, the semi auto bolt carrier was created by cutting a chunk of metal out of the regular bolt carrier, so that it could not hit the auto sear, if the sear was present.
The original standard bolt carrier (from the M16 but used in both guns) became known as the "full auto" bolt carrier.
Pretty sure this was done to get around certain (state mostly) laws about "machine gun parts".
Back in the 60s when the AR-15 was offered on the civilian market, and up through the 70s, generally, the ATF didn't care what parts were in the gun, only about whether it functioned as a full auto, or not.
Later on, they got a lot more picky....like declaring the auto sear (by itself) to be a machine gun....and some other things that didn't and still don't make sense to me...
and they put more emphasis on the "or readily converted to" language in the law.
Open bolt semi autos went away because of that, as well...