Yes, but I've found that a battery is noticeably happier after several hundred miles of driving - and that's starting with a battery that's already at 12.5 V or better, and a 220 A alternator.
With a typical maintainer (1.5 to 5 A) it seems to take about two weeks to get the same result.
And speaking of maintainers, it might have been in this thread that someone recommended a very affordable Noco Genius. Well, I bought one. Two days ago it was connected to a used but charged and good battery, basically just to have it do something.
It reached the fully charged state the next day, but this morning it had the "bad battery" icon lit, and the formerly good battery was now at just over 11 volts. Started over, it shows it's charging, and the voltage is up as it should be. Maybe it was a fluke, but I'll never trust that one again.