So we should assume that neither party offered to prepare the QDRO, and the court didn't order either party to prepare a QDRO?

Usually the party who wants the QDRO issued takes the lead in getting one prepared and filed, because it's to their benefit to get it filed and the consequences can be severe if they don't file a QDRO before a retirement account or pension goes into pay status. Often the lawyer will hire a specialist to prepare the QDRO, although sometimes a satisfactory standard QDRO can be obtained from the plan administrator.