Yes, with limits.
Connecteam is free for life for up to 10 employees with all hubs included, and has a separate Limited plan free for up to 30 users. Effy AI is free for up to 5 users with no credit card, and Zoho People is also free for up to 5 users.
Most other vendors offer a trial rather than a free tier: When I Work and Connecteam both run 14 days, Zoho People 30 days, and BambooHR and Deputy offer trials without publishing a length. Lattice and Gusto publish neither a free plan nor a trial.