Absolutely. Oh people don't call it "waterfall", but that's what they do. There's actually a term for this "Agile-fall". They do the ceremonies of scrum with a waterfall mentality. If you look at most summaries of design process, they show it as a process diagram. There are 4-6 steps usually. For example:

1. Empathize

2. Design

3. Ideate

4. Prototype

5. Test

The foundational hallmark of waterfall was the concept of stage gates. You couldn't move onto the next stage without completing the previous stage. This was because design used to have to be literally shipped on discs. They started with an arbitrary deadline and backed into when each stage had to be complete.

Truly effective design—the kind that improves users' lives—doesn't follow stage gates. It is "agile". The whole point of "responding to change over following a plan" is that you shouldn't be rigidly following the same plan over and over and over. You should be learning, applying the right technique to the right situation.

Sure, there are some common very generalized themes (understand the problem before you solve it, then iterate based on feedback, etc), but the WAY you do that varies. If you're using the exact same techniques and following the exact same process every time and won't move on to the next stage until you finish the previous one—no matter what you call it—you're practicing waterfall and not being nearly as effective in improving your users lives as you could be.