That is a bizarre allegation. I have never heard a Gracie family member claim that they invented sparring - that would be just plain silly.

The martial arts that consistently spar live against a resisting opponent, especially wrestling, boxing, Muay Thai, jiu jitsu, and (sometimes) Judo, are legit combative arts.

The grappling arts are unique in their ability to subdue an opponent while dictating the level of violent damage that occurs.

Jiu jitsu is unique among grappling arts in its emphasis on leverage and energy management to subdue bigger, larger, more athletic people while minimizing damage to both parties.