Yes.
Did you know that you can have bone-on-bone contact without pain or immobility? Doctors rarely tell you this (or even know it themselves), but it's been shown in multiple large-scale medical studies in the knees, hips, spine, and shoulders.
Even if you have "bad" arthritis in X-rays, you can have perfect function and zero pain. Even if you DON'T have bad arthritis in X-rays, you can still be in a lot of pain!
The key is to Always Think Muscles. Your muscles are the organs of movement, and with training, you can improve the overwhelming majority of aches and pains.