Yes, US ground forces were engaged in North Africa from November 1942 with the start of Operation Torch, and the OSS were also significantly involved in the North African Campaign — in fact, it's one of the first real tests of their capability, given the agency was only established in June 1942.

Just did some idle googling on this topic, and came across an essay by a Harvard history student on specifically the role of the OSS in Operation Torch — interesting reading.