The quick answer that question is: Yes. However, it is a bit more complex than that. When we look at events of the past our confidence in how closely our understanding is to the reality with vary case by case.
Much of it comes down to the nature of the evidence. What kind of archaeological and textual evidence do we have? And how good is our interpretation of that evidence?
Even when we are talking to eyewitnesses of a fairly recent historical event, there is no guarantee that we are getting the facts. We may be closer in our understanding of something that happened 500 years ago!
Having said all that, there is no need to be pessimistic about history. In many cases we have records that include a variety of perspectives. That story may be corroborated by material evidence.
Even if there are contradictions or gaps in the evidence, we often are able to get pretty close to what happened.
The bottom line is that history is worth studying and that we can learn about what happened in the past. At the same time, we need to hold our interpretations with some humility and be prepared to adjust our views as new evidence becomes available.
