Sort of. Ancient armies used to keep screens a lot closer in than modern armies, usually within line of sitght of the main forces. this meant they had a very small footprint, maybe 4-5 miles wide while traveling, and sometimes they had to meander around a bit to find each other. The best example I can think of this is Alexander and Darius II heading to the battle of Gaugamela. They knew there was going to be a fight, and both sides were headed to it, but they actually passed each other up on the road heading to the showdown, and Alexander had to backtrack a bit to get the two armies aligned for a proper face off.

This covers part of your question, it's a good example of two armies heading to a fight and missing each other, but they did find each other after a brief SNAFU. That is fairly typical for ancient battles, the two armies would often have to feel around a bit in situations where the defenders decided to meet the invaders out in the open instead of sticking to static defenses and waiting for them to show up. Scouting wasn't the same as it is now, and as I mentioned screening forces tended to stay much closer in, but eventually when two groups want to fight and are headed towards each other they manage to get it together.