I would say yes. But the references would be few since BG3 is more than 100 years after BG1 and BG2. The ending of Siege of Dragonspear ties up several loose ends in the Baldur's Gate Trilogy's plot, like who taught Imoen how to cast spells, how does Khalid, Jaheira, Minsc, Dynaheir, Coran, Safana and Viconia know the BG1 protagonist in BG2 Shadows of Amn if he/she didn't meet them in BG1, and what dark circumstances forced the BG1 protagonist to leave Baldur's Gate that led up to him/her being captured by assassins hired by Irenicus. Shadows of Amn's intro (the original edition included) revealed that the authorities of the city figured out he/she is Sarevok's half-brother/half-sister, and that he/she departed soon after "under circumstances more darker than anyone would believe". Also, Siege of Dragonspear ties up a small loose end from the Icewind Dale game.
In the Legends of Baldur's Gate comic books (the comic books that made it possible for Minsc and Boo to be in Baldur's Gate 3) (https://www.comixology.com/Dungeons...9wL2xpc3Qvc2VyaWVzU2VhcmNoRGV0YWlsTGlzdA
), Minsc is brought into the present day Forgotten Realms by being freed from being a stone statue in Baldur's Gate by a wild mage named Delina who looks like Neera, with the pink hair and being a wild mage and all, but she is a moon elf instead of a half-elf. Even Minsc calls her Neera, so this is evidence that even the companions from the Enhanced Editions canonically existed in the Forgotten Realms.