True if you're talking about Dry Stout, not so much with Sweet/Imperial/Foreign Export Stout
The guidelines for Brown Porter (4-5.4%) and Dry Stout (4-5%) are near-identical in their ABV (note that Porter actually goes a little higher), however the porter is more restrained in the quantity of darker malts, as you stated. Dry Stout is SRM 25-40, Brown Porter 20-30, and the IBUs follow suit (30-45 vs 18-35).
Then you have robust porter, which pushes the numbers up yet further: SRM 22-35/IBU 25-
50/ABV 4.8-6.5%
To me, the difference from the guidelines seems to be the use of flaked unmalted barley in dry stouts, and other efforts (such as dissolved nitrogen) to make stout:
a fuller, creamier, more “stout” body