Yes, back in the 1960's and 70's it was a popular topical treatment for aches and pains. My neighbor, a farmer, called it "horse liniment" and we bought it from the farm supply store. My memory of it was that it smelled like the printing plant where I worked, and made my breath and body exude a garlic odor.

There are legitimate medical uses for prescription DMSO in highly specific situations, but it is not available over the counter in medical grade. Here is the summary from Mayo Clinic:
https://www.mayoclinic.org/drugs-supplements/dimethyl-sulfoxide-intravesical-route/description/drg-20063424
Non-pharmaceutical grade DMSO can include unlisted products such as sulfur, waste from paper processing, and other ingredients (DMSO is a byproduct of paper production)

Here is a summary of the various side effects that have been reported in studies over many years:
https://pmc.ncbi.nlm.nih.gov/articles/PMC6707402/
There are better topical options, including Voltaren and lidocaine, for treating pain.