In C, usually yes.
In C++, sometimes yes. It depends on how template-heavy the code is, but if you have some discipline you can keep most logic out of headers and thus easily splittable.
In Rust, almost always no, because of circular dependencies. You can try to work around it by adding `dyn Trait` everywhere, but that requires a lot of code changes and comes at big ergonomic costs (and a small runtime cost).
Which is why in practice, Rust compilation units are almost always larger than C++ or C compilation units. Rust can sometimes be competitive with C++ on compilation speed anyway, thanks to a smarter build system and not having to re-parse headers a billion times, but usually it's slower.