My understanding is that Apollo could use a skip entry, but that the entry they actually used wasn’t. What it did use in practice was a series of rolls to shallow and steepen the descent, but it stayed within the atmosphere the whole time. I’m not sure why they apparently didn’t use a true skip entry (where after the initial atmospheric entry, they actually climb away from the atmosphere and then reenter).
Assuming my understanding of the actual entry profile used by the Apollo missions is correct, I think what was meant was that Orion used a skip entry for the first time on a returning lunar mission.