Yes, definitely. Even during the first centuries of the diaspora, some jewish settlements had survived in Palestine, but were widely destroyed and killed during the first crusade of 1096. From the 12th century onwards, there are multiple instances of jewish individuals, small groups and bigger gatherings of Jews trying and/or succeeding to migrate to Eretz Israel, the most prominent one being the "Migration of the 300 Rabbis" of 1210 which some Historians call a "protozionistic action".

After the Jews were expelled vom Spain towards the end of the 15th century, a lot of them took refuge in Palestine and built a new cultural and theological centre of Judaism in the town of Safed.

Another big aspect of Protozionism is "Christian Zionism", which holds the belief that redemption can only come when the Jews return to their homeland. This is in no way a modern idea held by the christian political right but one that's been around for more than 400 years, most prominently advocated by Isaac Newton and John Locke in Britain.