Yes.

For example Xenophon describes Persian tents on campaign against the Greeks. Some of the tents contained multiple divided rooms. One such tent housed the emperor's harem and contained separate areas for the women to sleep, dine, and sing.

The Hebrew book of Judith describes Holophernes tent as having separate dining and sleeping areas with a staff working in the tent. The sleeping area has a bed (not just a cot or platform). And the bed has a canopy made of "purple, gold, emeralds and other precious gems." Some of the other furniture and dishes etc are described in equally opulent terms.

Several histories even have comparisons between the tents on one side vs another. Ancient historians seem to occasionally revel in the simplicity of one general compared with the extravagance of another. Marius for example is praised for being a soldier's soldier who sleeps on a soldier's cot. Julius Caesar compares his own simplicity to the Senators opposing him. He even points out how Lucius Lentulus planted ivy to grow up the side of his tent as a particularly extravagant luxury.

It's hard to know how serious to take any of these reports. They are almost inevitably something of a propaganda piece. But the reports are so common it seems likely that there is some truth to the reports. And as we get closer to the more modern period, we see some pretty extravagant (if not quite as extravagant) tents. Kings and emperors seem to have historically gone to war in style.