Short answer: yes. Roof decking and roof sheathing are two names for the exact same thing: the layer of wood panels or boards nailed across your rafters or trusses. Everything else on your roof, the underlayment, the ice and water shield, the shingles, all of it sits on top of that layer. Some crews say "decking." Some say "sheathing." An insurance adjuster might say "substrate." Same wood, different vocabulary.
So if a roofing company tells you the decking is bad and another one says the sheathing is rotted, they are not disagreeing. They are telling you the same thing with different words.
Now let's talk about what actually matters: what that layer does, when it fails, what it costs, and how to keep it from wrecking your budget in the middle of a roof replacement.

Think of your roof in layers. The framing (rafters or trusses) is the skeleton. The decking is the skin stretched over it. Shingles are the jacket.
That middle layer does three jobs:
Skip the decking inspection and you are basically building on sand. It will look fine for a year or two, then start to fail in ways that are expensive to chase.
What you have up there really depends on when your house was built.

Older homes, usually pre-1960s. Long 1x6 or 1x8 boards laid across the rafters, sometimes with gaps between them. If you have a wood shake roof history, those gaps were intentional so the shakes could breathe.
Plank decking is not automatically bad; but asphalt shingles will need a solid surface, so gapped planks usually get overlaid with new sheets before shingles go on.

Layers of wood veneer glued in alternating directions. Strong, stable, holds nails well, and handles moisture better than the alternative. Common thickness is 1/2 inch or 5/8 inch.

Compressed wood chips and resin. It is the most common decking material in newer construction because it costs less and comes in bigger sheets. The thing is OSB performs fine when it stays dry. When it gets wet and stays wet, it swells at the edges and turns to mush much much faster than plywood does.
Neither one is a mistake. They just fail differently.
You usually cannot see the problem from the ground; but there are clues to when it's time to replace it.
Fun fact that is not actually fun: the worst decking damage almost always hides around chimneys, skylights, valleys, and wall intersections. Anywhere flashing exists, water has been trying to get in.
This is the part nobody enjoys, so let's be direct about it.
Nobody can give you an exact decking count before the old roof comes off. Not with a drone, not with an attic inspection, not with 20 years of experience. The old shingles and underlayment are covering the evidence. An attic inspection catches maybe half of what is up there, because insulation and finished ceilings block the view.
That is why a real proposal for a roof replacement includes a per-sheet decking allowance, spelled out in writing. It should say the price per sheet, and it should say that you only pay for what actually gets replaced. If a contract is silent on decking, that is not a bargain. That is a blank check waiting to be filled in.
Broad, realistic ranges (your market will move these):
Most roof replacements need somewhere between zero and ten sheets. Some need the whole deck. Budgeting a cushion of a few hundred to a couple thousand dollars means a bad surprise stays an annoyance instead of a crisis.
Swapping a handful of sheets adds a couple of hours. Nobody is going to lose a day over it.
A full re-deck typically adds one to two days to a standard roof replacement, and it changes the sequencing. The roof cannot be left open overnight, so the crew works in sections and dries in as they go.
Material delays are the wildcard. Sheet goods are usually easy to get, but 5/8 inch plywood in a busy season can take a day or two to source. If the crew shows up and finds 40 bad sheets on a Friday, that job is not finishing on Friday.
Alright, let's talk about the stuff that catches people off guard.
Keep it simple. Ask any roofing company these five things:
Written answers. Not verbal ones.
Roof decking and roof sheathing are the same layer under a different name, and it is the layer that decides whether your new roof lasts five years or thirty. You cannot see it, you cannot fully price it in advance, and you cannot skip it.
What to do next: get your attic inspected, ask every bidder for a written per-sheet decking price, and hold back a small contingency before the tear-off starts. Do those three things and the decking stops being a surprise. It becomes a line item.