As of late 2020 yes!
As zero-touch is a little light on features, Knox Mobile Enrolment has full support for Android Enterprise and a little more control over the how and when for device provisioning, so organisations may still opt not to use zero-touch on a Samsung device.
Through supported EMMs and the minimum Knox version (2.9), organisations can use either KME or zero-touch (9.0+) to deploy an Android Enterprise fully managed, dedicated, or COPE device, or work profile via KME only.