Yes. Sesame Unpaved, as great as it was, had several glaring factual errors. After 4200 episodes (counting season 40 still to be aired), Bob Johnson probably was mentioned or alluded to (via a prop) on at least one occasion on the show. I'll admit that "Bob Johnson" does ring a bell outside the trivia quiz, but i could not cite the particular episode.
Of course then that begs the question...even though it is one of the most common names out there, one still must wonder if maybe Bob is related to Grover's constant customer, Mr. Johnson? (And by extension, his brother Simon Soundman?)