Angular 1.x uses a version of JQ Lite, and will utilize jQuery if it's already loaded on the page.
That being said, I don't think knowing jQuery is very valuable for JS developers anymore. Browser standards have come a long way and frameworks are handling your DOM writes for you, so that major use case for jQuery is gone in any website that requires substantial scripting.
This just isn't true. OP mentioned React, Vue.js, and Mithril. None of these use jQuery as a dependency. Neither does Angular, Backbone, or Ember.js.