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Yes. If I recall correctly, this is a major plot element of "Star Trek: First Contact" for example.[1]

[1] I'm not a huge trek person but it's pretty decent as these things go https://www.imdb.com/title/tt0117731/?ref_=fn_al_tt_20

Not just First Contact but most of Star Trek. The Federation has the prime directive, do not make contact with pre-warp/pre-FTL civilisations.

I recall an episode on Enterprise (2001) that showed Vulcan's living amongst them before the Prime Directive was ever a thing.