> Has there ever been an instance where an offer has been rescinded because a prospective employee didn’t negotiate?

You're looking at it as a one-sided outcome where the company rescinds an offer.

How about the other side? Where the company sees you as an even more desirable candidate and increases the offer? Signing bonus, increased salary, other perks?

Author's whole point is "You always win if you negotiate the right way."

The author's point isn't that you aren't going to get the job by not negotiating, the author's point is that you're leaving money on the table by not negotiating. Potentially a lot of money by thinking that the other side is fair and transparent in their offer to you or doing you "a favor" by giving you a job rather than seeing that there is, unfortunately, a game that has to be played once you get to the offer stage.