In regards to grappling in Japan, itstarted with armour grappling, Kumi Uchi, in which the goal was to imobilize and finish with a short dagger or break a limb or neck.
After the 1800's the civilian version "took over" and it became more oriented towards the clothes of the time and not armour, it was typically used for restraining more than anythign else.
Some Ryu developed immobilizations to a high degree, some using ropes/belts.
The kito ryu focused on throws and some, liek the Fusen ryu focused on ground grappling, while others like the Tenjin Shinyo ryu focused on chokes, immobilizations and strikes.
Judo took the best of the older ryu and blended them in, well Judo.
The pre-war version, know as Kosen Ryu nowadays was more ground work and submission oriented.
The whole "wrestling" thing as we find in the near east and west was NOT that popular, unless you count sumo.
Sumai, the MA of the SUmo, was the closest we have the western wrestling in Japan and it was a very complete system of stand up grappling and throwing, but no ground work per say.
Psalms 144:1
Praise be my Lord my Rock,
He trains my hands for war, my fingers for battle !