Yes he was. He's been in the main Avengers team since post-Civil War II. At no point did he leave the team.
That doesn't even work as a justified reason considering that we saw that he was among the frozen Avengers who were gathered to the Avengers HQ so there was no reason for him not to be with the team other than the writers simply choosing that they didn't want him in the story. And most of the members of the Avengers who have solos are independent heroes but they are part of the team. When the Avengers are together, they are a team no matter who does solo normally.