Most definitely. What happened to African-American soldiers was that they were drafted to fight against a European regime, with one of the main motivations given being their racist ideology, and then they would return to the United States where, especially in the Deep South, racism wasn't just present, it was institutionalized. The United States military wasn't formally desegregated until 1948, and there are myriad examples of African-American units being given sub-standard accommodations and rations than white units.
A very famous example of this is a letter by an African American corporal named Rupert Trimmingham. He and several other African American soldiers were travelling through a small town in Louisiana. The only place in town that would serve them lunch was the train station restaurant, and only if they entered through the back and ate in the kitchen. While they were eating a group of German POWs was brought in who were not only allowed to eating the restaurant itself but were actually laughing and joking with their guards. He wrote a letter about the incident to Yank Magazine, a weekly magazine of the United States Army, which garnered a lot of attention to the apparent hypocrisy of using Nazi Germany's racial policies to justify war against them while the United States itself still featured massive discrimination. You can read the original letter here. It starts in the second column, immediately below the cartoon. Following World War II African American GIs were also disproportionally given so-called blue discharges, which essentially locked them out from access to the provisions in the GI-bill and limited future employment opportunities.
Something that a lot of people forget is that a lot of the soldiers fighting in Europe before 1945 didn't immediately return following the fall of the Third Reich. Germany remained occupied for several years by American soldiers, which included a large number of African Americans, and American soldiers remain stationed in the United States to this day. Now while these African-American GIs definitely experienced some racism from both their fellow white soldiers and the more conservative elements of German society (with Nazi propaganda about race in general and the French use of African soldiers during the Rhineland occupation following World War I in particular still fresh in their minds) relationships between African American soldiers and the younger generations of Germans, especially young German women, could be far more cordial than would ever be possible in the United States. They certainly didn't suffer physical assaults for just being seen talking to white women, which was a reality that still existed at the time in much of the Deep South. A large number of these African-American soldiers actually fathered children with German women.
As for back home, another impact of World War II was an increase in labour competition between white and African-Americans. Executive Order 8802 essentially forced companies working for federal contracts to end any racial discrimination in their employment. Following World War II, in the context of the escalating Cold War, military-industrial production wasn't scaled back to the extent it was following World War I. That meant that there was a lot more competition in industrial labour, since prior to the executive order African-Americans often simply weren't being given access to these higher paying industrial jobs.
Within the Civil Rights movement there were numerous notable veterans, including (but not limited to) Oliver Brown (of Brown v. Board of Education fame), Medgar Evers, Amzie Moore and Hosea Williams. Notable athletes such as Joe Louis and Jackie Robinson were also enlisted in the army during World War II, and the publicity they got as successful athletes allowed them to reach large audiences, both white and African-Americans. Both were involved in incidents in which they, while on duty, were ordered to sit at the back of the bus, and refused.
So the Civil Rights movement following World War II saw a massive influx of African-Americans who had not only had first-hand experience with the institutionalized racism that existed within the United States military at the time, but who also carried over the training they had received into their Civil Rights activism. African-American newspapers started publishing opinion pieces regarding a "Double V" campaign, in which they urged African-American veterans to carry over the battle against fascism and racism in Europe into the United States. One quote I've found, attributed to Louisiana veteran William Baily, sums up the sentiments of these veterans very well:
After getting out of the service, knowing the price that I had paid and the problems I had faced, why shouldn't I exercise the rights and privileges of any citizen? If I could go over there and make a sacrifice with my life I was willing to do it here.
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