Pretty much all of Id Softwares FPS were pkzip wad files — or at least all of them up to Return To Castle Wolfenstine. After that point I had too many commitments to invest much time into modding so couldn’t say how they were built.
I seem to recall reading that their choice of wad architecture was intentionally to enable the modding community too.
"DPK format extends the legacy PK3 format with dependency mechanism and versioning", for example: https://wiki.unvanquished.net/wiki/Formats/DPK
BUT: "The archive format uses the PKZIP container (the well-known zip format) with a .dpk extension.".