Yes. (I heard) Allah's Apostle (ﷺ) as saying: There is no harm if you do not practise it, for it (the birth of the child) is something ordained (by Allah).
Sahih Muslim Book 16, Hadith 149
← Previous Hadith We took women captives, and we wanted to do 'azl with them. We then asked Allah's Messen- ger (ﷺ) about it, and he said to us: Verily you do it, verily you do it, verily you do it, but the soul which has to be born until the Day of judg- ment must be born.

Sahih Muslim Book 16, Hadith 148 Next Hadith → This hadith is reported on the authority of Abu Sa'id with the same chain of transmitters but with a slight variation (of words).

Sahih Muslim Book 16, Hadith 150