I was curious if the domain registration originally dated back before the company's trademark and if they could UDRP the name.
First, nothing prevents someone from filing a UDRP, regardless of the circumstances.
The UDRP requires the complainant to prove three things...
1. Identity or similarity to their mark,
2. Lack of legitimate rights or interests by the registrant, and
3. The domain was registered and used in bad faith.
Now, on #1, the dates don't matter. #2 hinges on what, if anything, you are doing with the domain name. Leaving aside the question of use, the UDRP is now generally interpreted such that "registered in bad faith" implicitly requires the trademark (or significant pre-trademark publicity) to have existed prior to
the time the current registrant acquired the domain name.
In other words, if you buy a domain name this week (absent buying some ongoing business along with the domain name), then nobody is going to care if the domain name was registered 20 years ago.
The essential question of the UDRP is "why did this person acquire this domain name?", so if you just bought a 20 year old domain name, that question is "why did you buy it now?" and not what someone else was thinking 20 years ago.
As with a lot of questions asked in this forum, this one - and many others - are addressed in what amounts to the UDRP FAQ published by WIPO with links to various decisions on each subject:
https://www.wipo.int/amc/en/domains/search/overview3.0#item38
3.8 Can bad faith be found where a domain name was registered before the complainant acquired trademark rights?
3.8.1 Domain names registered before a complainant accrues trademark rights
Subject to scenarios described in
3.8.2 below, where a respondent registers a domain name before the complainant’s trademark rights accrue, panels will not normally find bad faith on the part of the respondent. (This would not however impact a panel’s assessment of a complainant’s standing under the first UDRP element.)
[See also section
1.1.3.]
Merely because a domain name is initially created by a registrant other than the respondent before a complainant’s trademark rights accrue does not however mean that a UDRP respondent cannot be found to have registered the domain name in bad faith.
Irrespective of the original creation date, if a respondent acquires a domain name after the complainant’s trademark rights accrue, the panel will look to the circumstances at the date the UDRP respondent itself acquired the domain name.
(Emphasis Added)