Short answer: Yes — many people and devas saw Bhagwan Mahavir when he lived on earth.

Traditional Jain accounts name, among others:

• The 11 Ganadhars (chief disciples), led by Indrabhuti Gautam (Gautam-swami).
• Sudharma-swami (the last surviving Ganadhar) and his successor Jambu-swami.
• Kings and lay devotees: Shrenik (Bimbisara), Kunika/Ajatashatru, Chetak of Vaishali, Abhaykumar, Queen Chelna, and many householders.
• Chandanbala (the renowned donor at the time of parna).
• Makkhali Gosala (Goshalak), who accompanied Mahavir for some time.
• Devas, including Shakra (Indra), especially at the Kalyanaks (notably Janma and Diksha Kalyanak).
• His parents: King Siddharth and Queen Trishala, and the people of Kshatriyakund, Vaishali, Rajagriha, etc.

Notes by tradition:

• Shvetambar tradition generally places Mahavir’s earthly life as 599–527 BCE.
• Digambar tradition often gives 540–468 BCE (some texts cite nearby ranges).

In all cases, these are ancient dates; no one living today has seen him in person. We honor him through his teachings, idols, and the living Jain sangh.