So yes, republicans did take the house and the senate majority.

Many republicans have come out "against" trump. Now, trump won about 50% of the popular vote. The republicans in the house/senate are pretty much free to not vote for his agenda. Because, if they vote against him it is likely that they won't harm their chances for re-election. If trump had won say 80% of popular vote, they would pass any damn thing he wanted, because they would be worried about their constituents.