Definitely yes. Though their relationship is hindered by Kikyo, he still has very strong feelings for Kagome. You can see this in how fiercely he tries to protect her and how open he is with her, which he never did with Kikyo. After Kikyo dies, then he falls completely in love with Kagome and swears on his life that he will not let Kagome suffer the way Kikyo did. And in the end, the two get married and seem to be living happily together in the Feudal Era.