In the statement I read, the titles were still there, it just used the given names in addition to the titles.
I think the informal "Harry and Meghan" was just to say that these are individual members of the Queen's family, not just a Duke and a Duchess. Later on, the statement used their title of "Sussex" to describe them.
So I don't think that counts as excluding their titles, I think it's more like saying, "this is my grandson, Harry, and his wife, Meghan" and together they are "the Sussexes".
In the broadcast the Queen did after the death of Diana, she called her "Diana"...it seemed a strong message of seeing someone as an individual who has a personal name, and not just a title. I think this is the same.