Did the apostles hear confession?
Yes.
Catholic.com has many articles on these topics, some of which I directly quote below.
Note that the power Christ gave the apostles was twofold: to forgive sins or to hold them bound, which means to retain them unforgiven. Several things follow from this. First, the apostles could not know what sins to forgive and what not to forgive unless they were first told the sins by the sinner. This implies confession. Second, their authority was not merely to proclaim that God had already forgiven sins or that he would forgive sins if there were proper repentance.
For sins committed after baptism, a different sacrament is needed. It has been called penance, confession, and reconciliation, each word emphasizing one of its.aspects. During his life, Christ forgave sins, as in the case of the woman caught in adultery (John 8:1–11) and the woman who anointed his feet (Luke 7:48). He exercised this power in his human capacity as the Messiah or Son of man, telling us, “the Son of man has authority on earth to forgive sins” (Matt. 9:6), which is why the Gospel writer himself explains that God “had given such authority to men” (Matt. 9:8).
Since he would not always be with the Church visibly, Christ gave this power to other men so the Church, which is the continuation of his presence throughout time (Matt. 28:20), would be able to offer forgiveness to future generations. He gave his power to the apostles, and it was a power that could be passed on to their successors and agents, since the apostles wouldn’t always be on earth either, but people would still be sinning.
God had sent Jesus to forgive sins, but after his resurrection Jesus told the apostles, “‘As the Father has sent me, even so I send you.’ And when he had said this, he breathed on them, and said to them, ‘Receive the Holy Spirit. If you forgive the sins of any, they are forgiven; if you retain the sins of any, they are retained’” (John 20:21–23).
Just as the apostles were to carry Christ’s message to the whole world, so they were to carry his forgiveness: “Truly, I say to you, whatever you bind on earth shall be bound in heaven, and whatever you loose on earth shall be loosed in heaven” (Matt. 18:18).
This power was understood as coming from God: “All this is from God, who through Christ reconciled us to himself and gave us the ministry of reconciliation” (2 Cor. 5:18).
A verbal confession is listed as part of the Church’s requirement by the time of Irenaeus (A.D. 180). Later writers, such as Origen (241), Cyprian (251), and Aphraates (337), are clear in saying confession is to be made to a priest. Cyprian writes that the forgiveness of sins can take place only “through the priests.” Ambrose says “this right is given to priests only.” Pope Leo I says absolution can be obtained only through the prayers of the priests. These utterances are not taken as novel, but as reminders of accepted belief. We have no record of anyone objecting, of anyone claiming these men were pushing an “invention.”
Over time, the forms in which the sacrament has been administered have changed. In the early Church, publicly known sins (such as apostasy) were often confessed openly in church, though private confession to a priest was always an option for privately committed sins.
Penances also tended to be performed before rather than after absolution, and they were much more strict than those of today.
Didache (70 AD): “
There are two ways, one of life and one of death, but a great difference between the two ways. …] On the Lord’s Day gather together, break bread, and give thanks, after confessing your transgressions so that your sacrifice may be pure”
Letter of Barnabas 19 [A.D. 74]: “
You shall confess your sins. You shall not go to prayer with an evil conscience. This is the way of light.”
Tertullian [203 AD]: "
[Regarding confession, some] flee from this work as being an exposure of themselves, or they put it off from day to day. I presume they are more mindful of modesty than of salvation"
Cyprian of Carthage [251 AD]: “
[the impenitent] spurn and despise all these warnings; before their sins are expiated, before they have made a confession of their crime, before their conscience has been purged in the ceremony and at the hand of the priest . . . they do violence to [the Lord’s] body and blood, and with their hands and mouth they sin against the Lord more than when they denied him. Of how much greater faith and salutary fear are they who . . . confess their sins to the priests of God in a straightforward manner and in sorrow, making an open declaration of conscience. . . . I beseech you, brethren, let everyone who has sinned confess his sin while he is still in this world, while his confession is still admissible, while the satisfaction and remission made through the priests are still pleasing before the Lord.”
Basil the Great [374 AD]: “
It is necessary to confess our sins to those to whom the dispensation of God’s mysteries is entrusted. Those doing penance of old are found to have done it before the saints. It is written in the Gospel that they confessed their sins to John the Baptist [Matt. 3:6], but in Acts [19:18] they confessed to the apostles”
John Chrysostom [387 AD]: “
Priests have received a power which God has given neither to angels nor to archangels. …] Priests … can bind with a bond which pertains to the soul itself and transcends the very heavens. Did [God] not give them all the powers of heaven? ‘Whose sins you shall forgive,’ he says, ‘they are forgiven them; whose sins you shall retain, they are retained.’ What greater power is there than this? The Father has given all judgment to the Son. And now I see the Son placing all this power in the hands of men”
shaw: