From what I understand - yes. That's the Franciscan view as well.
This article may interest you:
Quoting Richard Rohr:
At-One-Ment, Not Atonement
Sunday, January 21, 2018
The common reading of the Bible is that Jesus “died for our sins”—either to pay a debt to the devil (common in the first millennium) or to pay a debt to God (proposed by Anselm of Canterbury, 1033-1109). Franciscan philosopher and theologian John Duns Scotus (1266-1308) agreed with neither of these understandings.
Duns Scotus was not guided by the Temple language of debt, atonement, or blood sacrifice (understandably used by the Gospel writers and by Paul). He was inspired by the cosmic hymns in the first chapters of Colossians and Ephesians and the Prologue to John’s Gospel (1:1-18) and gave a theological and philosophical base to St. Francis’ deep intuitions of God’s love. While the Church has not rejected the Franciscan position, it has been a minority view.
The many “substitutionary atonement theories”—which have dominated the last 800 years of Christianity—suggest that God demanded Jesus to be a blood sacrifice to “atone” for our sin-drenched humanity. The terrible and un-critiqued premise is that God could need payment, and even a very violent transaction, to be able to love and accept God’s own children! These theories are based on
retributive justice rather than the
restorative justice that the prophets and Jesus taught.
For Duns Scotus, the incarnation of God and the redemption of the world could never be a mere mop-up exercise in response to human sinfulness, but had to be the proactive work of God from the very beginning. We were “chosen in Christ before the world was made” (Ephesians 1:4). Our sin could not possibly be the motive for the incarnation—or we were steering the cosmic ship! Only perfect love and divine self-revelation could inspire God to come in human form. God never merely reacts, but supremely and freely
acts—out of love. -----> Continued here:
https://cac.org/at-one-ment-not-atonement-2018-01-21/