Yes! All live member events (excluding sprints and workshops) are recorded and posted in the Member Center within 48 hours. Existing members can access these recordings on the Insights section of the Member Center.
If you're looking for a recording from a sprint, those videos can be found in the Sprint Center of the associated sprint. Workshop recordings are converted into on-demand offerings a few weeks after the workshop has concluded; if you're looking for a workshop recording, be on the lookout for the on-demand version in the Courses section of the Member Center!