Issue came up after changing from Isaac Sim 2021.1.1 to 2022.2.0.
Importing the same robot URDF with prismatic and revolute joints in the new IsaacSim, and using the Drive in joint properties to move the robot, it appears that motion of prismatic joints wraps at 2pi (i.e. as if it was a revolute joint).
Properties displayed in IssacSim correctly describe the joint as linear/prismatic. Also, ArticulationInspector works correctly.