The USA does not issue departure stamps or have exit controls at its borders or airports. You definitely did not receive any departure stamps from any US CBP official. You also did not get departure exit stamps from Canada as Canada Customs does not have exit controls either. Same goes for most countries in Europe. However, the absence of formal exit controls does not mean that CBP does not have methods of determining who has left the USA. In the case of CBP they use the airline and marine passenger manifest records. That is why it is possible to exit the USA via land and CBP would not be aware, but via air the CBP is aware.