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I've read that derivatives of the original Thiokol TD-339 model of vernier engine for the Surveyor program was reused in the Viking program, and seen a hint that MSL was using the same heritage design, but I'm not sure if this is correct.

What about the Mars landers Phoenix or InSight?

More info and photos: 1, 2, 3, 4

enter image description here

Photo from here.

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    $\begingroup$ I hope you don't mind me adding some links and a photo. Many/most readers of your question won't be so familliar with heritage engines and spacecraft history as you are, so these may help a few to learn more. Feel free to roll back. $\endgroup$ – uhoh Jul 25 '17 at 6:47
  • $\begingroup$ Aerotech MR-80 seems to have been Viking and its direct descendant Aerojet MR-80B on MSL. Probably no link or direct lineage to TD-339 at all $\endgroup$ – kert Jul 27 '17 at 7:19
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No, the propellants have changed from bipropellant to solid or monopropellant.

I can't confirm the exact engines of Surveyor and Viking, and I'll take your word that they were TD-339. Viking used bipropellant.

Pathfinder/Sojourner use solid rocket engines.

MSL(Curiosity) used monopropellant.

MER(Spirit and Opportunity) used monopropellant.

InSight used monopropellant in twelve Aerojet Rocketdyne MR-107N and four Aerojet Rocketdyne MR-106 engines. Neither looks like the TD-339:

MR-107N
(source: spaceflight101.com)

MR-106
(source: spaceflight101.com)

Phoenix also used monopropellant in Aerojet brand engines. Although I cannot find the model numbers, there are eight 22 N and twelve 300 N engines.

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