Apart from some modern communities using words and phrases from African languages like Swahili and Yoruba, not to my knowledge. The closest thing I can think of would probably be practitioners of traditional Yoruba religion learning Yoruba, or Muslims learning Arabic.

The main impediment to African-Americans learning their ancestors' language is that most African-Americans don't know what ethnicity or language group their ancestors came from. Slavery erased that cultural knowledge and connection. Its also likely that African-Americans have origins in multiple ethnicities/languages. Enslaved Africans in the US came from all over Africa, from afar away as Mozambique to Angola to Senegal. There were perhaps hundreds of languages spoken in the regions slaves were taken from. The nature of the slave trade also meant that enslaved Africans were often in diverse linguistic groups were it was often difficult to maintain linguistic hegemony. The nature of slavery also made it difficult for slaves to pass on language for multiple generations leading to that loss of knowledge and connection.

So in summary, some individual or small communities of African-Americans have taken on learning an African language, but there hasn't been any large efforts to do so. The legacy of slavery meant that most African-Americans have no idea what language(s) their ancestors spoke so contemporary African-Americans will usually just pick a language to study, especially if it has important meaning for them in some way.

There are large, vibrant African population in today's america that speak much of the same languages as would their ancestors. Some hardcore Black-centric political groups, such as the black panthers, at least attempted to adopt portions of African culture and naming tradition. Through this, they mingled slightly but there is a storied tradition of African culture being rejected by Black American culture so there has been little mingling of cultures in modern america