Yom Kippur minhagim and prostration

Hi everyone, I am wondering if other minhagim do a full prostration (on knees and bowing with head on the floor) during the Temple Service reading during Musaf on Yom Kippur? Was this style of prostration common during the time of Chazal? If so why did it fall out of fashion? I remember reading that Rambam’s son tried to bring it back but was not successful. Does anyone have further information on this topic? I find it very interesting.

Thanks in advance!