Yes, although - like the Salusian, Zardon, and Vulcan expeditions to Earth in that same timeframe - the Autobot and Decepticon presences on Earth were for the most part carefully concealed until after Earth's official First Contact in 1999. (Not unlike the way the Transformers' interactions with humanity are depicted in the first season of Transformers Prime, come to think of it.)

>How did the upper echelons of the WDF come to be involved with the
>Norse Pantheon in the first place?

Sometime in the 22nd century, Gryphon took one of his occasional sabbaticals from active duty in the WDF and spent a year or two teaching mechanical engineering at the Nekomi Institute of Technology on Tomodachi (then a bustling young colony just entering its second century). While he was there, something more or less akin to the original Oh My Goddess OVA series happened, and he found himself peripherally involved owing to his weirdness-magnet dharma and the fact that he was the Motor Club's faculty advisor that year. That's how he met the Norns. I'm too lazy to check, but I think that's touched on briefly as narrative exposition in the early stages of Twilight (which goes on to be, among other things, Corwin's "origin story").

--G.
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Benjamin D. Hutchins, Co-Founder, Editor-in-Chief, & Forum Mod
Eyrie Productions, Unlimited http://www.eyrie-productions.com/
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Ceterum censeo Carthaginem esse delendam.