The short answer to this question is "yes."

Early in the life of the organization when members of the group needed to travel to the middle east, or other locations, they would often enter East Germany and fly from an East German airport. They East German guards would, of course, know who they were and what they were typically up to, and allow them to travel freely to their destination.

In the very late seventies, through essentially all of the 1980s, ten member of the Red Army Faction sought, and obtained, secret refuge in East Germany. They were hidden by a unit of the Stasi, and it's still not altogether clear how many people knew about the existence of the RAF members. It was definitely a rogue operation within the Stasi, but it appears to have been a fairly well-kept secret.

East Germany specifically provided limited training and weapons for still-active members who travelled to East Germany.

Depending on the era discussed, the majority of the funding of the RAF came from bank robberies; it was not a fully-funded operation of the East Germans, the Libyans, or whomever; they they did receive support from many of these regimes in the form of money, weapons, etc.