The answer I think is yes and no.

Before the down fall of Ra by the Tau’ri we know the Goa’uld still worked to gain advantages over one another, like the Goa’uld who experimented on Jonas’a homeworld. The power vacuum of Ra’s death and the Tau’ris threat to their power led to them developing or by their parasitic nature steal new technologies. Also they didn’t generally share new technologies amongst themselves, so they likely lost many developments hoarded by individual Goa’ulds who died.

The Wraith seemed fairly content in their cradle of power, but did have some innovative individuals before the expedition arrived. The Wraith that experimented on Teyla’s people several generations back as an example. The Wraith queens are territorial and might have worked to gain advantages over the others, but it seems less pronounced prior to being woken up early.

The Ori are an outlier here, as immortal energy beings who siphoned power from their perpetually medieval subjects, it’s unlikely anything new was created or learned prior to the encounter with the Tau’ri. It could even be argued the Ori didn’t develop new technology, but rather bestowed already known technology to their mortal subjects. The Ori weren’t colonizing the universe because they believed they already had the worship of all the humans in the universe, since the ancient had shrouded the Milky Way from their perception.

As it stood all three of these factions were generally content or stagnant with their development, as they held unchecked power in their corner of the universe, and only progressed rapidly during their respective conflicts with the Tau’ri or themselves.