Yes, they were existent but were not common until the 8th Century AD. Also they did not closely resemble the modern kimono we know as today. At that point in Japanese history the kimono more closely resembled the clothing of the Han Dynasty due to cultural adoption from Japan of Chinese culture. It wasn't until the Heian period (794–1192 AD), and the later Edo period (1603–1867 AD) as well where the kimono underwent a transformation and became uniquely "Japanized" with Japanese aesthetics and so on.