According to a friend who engineered there, they did indeed go direct, but I would go quite so far as to say it was straight into the board. They had a box they would plug the three guitars and Jamerson's bass into. Each instrument had a fairly basic preamp, and a level control. There were no tone controls, though of course they had some of that in the board. However, from the guitar box, it went to a power amp and a speaker cabinet (one speaker for all four guys!) so the rest of the band could hear them. This was important, because they never used headphones, but just played with what they could hear in the room. this, of course, brings up another important point, which is that the Snake Pit was a really small room (particularly for the size of the band!), so the guitar and bass was certainly bleeding into the drum, keyboard, and percussion mics. Vocals and horns were cut separately.
This is all in reference to the earlier years, when they were still using all the old tube gear and great old mics. At some point, when they moved to 8 track machines, they replaced all the tube gear with transistor stuff, replaced all the old mics, and made (according to my friend) the engineer's lives much more difficult. I'm not sure how they were recording guitars at that point, but it was only the last few years in Detroit where that was happening.
Honestly, though, the gear didn't matter much. The sound came from those guys, and their hands. Jamerson didn't change the strings on his bass. EVER. By the end of his life, it became a real problem, because 30 year old strings just won't play in tune (go figure). But that sound came from Jamerson, not the bass. Its the same with all of those guys. Its not the gear, its the guy. But if you want to reproduce the signal chain, its really just a very clean signal path. There wasn't much dirt on the guitars there (although, for many years they did have a dirt floor in the studio!)
Gabriel