Yes and no.

The idea of an ambulance where a sick or injured person is transported, treated on route and brought to a place of medical care didn't exist for civilians until 1832 when London's Cholera outbreak lead the city to setup horse drawn carriages to transport the ill that served as the first form of the ambulance.

Prior to that, the only form of medical transportation for civilians was the forced removal of those suffering from mental illness or leprosy. These people would be taken almost always against their will to a quarantined place separated from the public, usually a place run by the local monastery. You have to remember, the vast majority of people couldn't afford medical care and even if they did, didn't live close enough to a hospital (if the country had any) where being transported would be more beneficial than just having someone with medical knowledge come to you. Also remember these are the days before sterile rooms and advanced medical equipment. And it also wasn't uncommon for the doctor to also be the local barber.

However, in 1487 the Spanish began using horse drawn carts to serve as mobile hospitals to follow their armies. This is the earliest form of care where a person is taken from the place of injury or illness to a place of care and treated en route. But this was strictly for military use only.

Sources:

Katherine T. Barkley (1990). The Ambulance. Exposition Press.

Cholera Epidemics in Victorian London.” Cholera Epidemics in Victorian London | The Gazette, Authority, 1 Feb. 2016, www.thegazette.co.uk/all-notices/content/100519.

“History of Ambulances.” EMT Resources - for New and Experienced EMTs, Emt-Resources.com, 2016, www.emt-resources.com/History-of-Ambulances.html.