Short answer: No, not in the form we see today.

In Jain siddhānt:

• Tirthankaras did not build stone temples or install murtis the way we have today (marble idols, shikhars, dharamshalas, etc.).
• A Tirthankara’s main work is:

- attaining keval‑jñān, - establishing the fourfold saṅgh (sādhus, sādhvīs, śrāvaks, śrāvikās), - giving deshnā (discourses) and showing the path of liberation.

Then how did “temple darshan” come?

• What is from Tirthankaras’ time:

- deep devotion (bhakti) toward Arihants and Siddhas - vandana / namaskār / chaitya‑paripāṭī (going to holy places, bowing to them)

• After Tirthankaras’ nirvāṇa,

- Later śrāvaks, kings, and Āchāryas started building Jinalayas / derasars as permanent places: - to keep Jina‑murti for remembrance, - to do darshan, puja, svādhyāy, pratikraman, samayik, etc.

• So the concept “pay respect to Arihant–Siddha” is original,

but the physical system of marble temples and daily darshan as we see now is a later, śrāvak‑developed tradition, not directly “introduced” by any Tirthankara.

Digambar / Shvetambar view

• Both agree:

- worship of Jina and visiting chaityas is very old and dharmic, - but present‑day temple styles, rituals, and detailed vidhis are post‑Tirthankara developments based on āgams, commentaries, and ācāryas’ maryādā.

If you want, you can also see a simple explanation of why to go to temple (derasar) and how darshan helps in Jain spiritual life here: