Yes and no. They had a Titans series before the New 52 while Dick was Batman, but it wasn't very good and characters like Wally were kind of taken off the table even before the New 52 because they were trying to promote Barry at the time as Flash who they just brought back. I think the only real close dynamic between them was on the JL while Dick was Batman leading it and characters like Donna were on it. The two there felt close to me and it is sad to see what Dick and Donna's relationship is like currently compared to it.