Yes and no, depends what you're referring to - a bad handover wasn't great, cutting and running from Bagram etc.. but there is more to it than that clearly, that wouldn't have changed the overall outcome I don't think, but perhaps alleviated some of the short term chaos - rather than scramble to fly troops in etc.. Trying to prevent the Taliban from taking over would require a heck of a lot and perhaps a rather different approach, not just sticking heads in the sand and mostly holding only urban areas while the Taliban are free to roam around the countryside and the Afghan government just comes across as a puppet regime.
Nope.