Absolutely! In fact the pre-incarnate Jesus Christ is all over the OT and He is known as "The angel of the Lord." He first appears as the angel of the Lord at Genesis 16:7. He says at Genesis 16:9 to Hagar, "I will greatly multiply your descendants so that they shall be to many to count.
He also tells Hagar, vs11, Behold you are with child, and you shall bear a son and you shall call his name Ishmael. At vs12 he tells Hagar what kind of a person he will be. Hagar says the following at vs13, "Then she called the name of the Lord who spoke to her, "Thou art a God who sees;" for she said, "Have I even remained alive here after seeing Him."
Now, look at Genesis 17 starting with vs1-2, "Now when Abram was ninety-nine years old, the Lord appeared to Abram and said to him, "I am God Almighty, Walk before Me, and be blameless. vs2, And I will establish My covenant between Me and you, And I will multiply your exceedingly." Keep in mind that God is a spiritual being and cannot be seen. This is according to Hagar and at Exodus 33:20.
So the question is this? Is the being that multiplied Hagar's descendants the same being who multiplied Abram's descendants? The answer is yes. The Hebrew word for "angel" is "malak." This word means "messenger" and it can also refer to an actual angel like Michael or Gabriel. It can also be used for human beings.
A good example is at Malachi 3:1, "Behold, I am going to send My "malak/angel/messenger," and he will clear the way before Me. And the Lord , whom you seek will suddenly come to His temple; (Who might that be?) and the "malak/angel/messenger" of the covenant in whom you delight behold, He is coming," (Who might that be?) says the Lord of hosts."
The one that is going to clear the way of the Lord is John the Baptist and he is no actual angel. (Mark 1:1-4). Incidentally the prophet "Malachi" who is also a human being, well his name is from the word "malak/angel." Now, getting back to Genesis 17. The reason I know this is a physical appearance of God is because of Genesis 17:22, "And when He/God finished talking with him/Abraham , God went up from Abraham." That is straight up north.
Let's now go to Genesis 18. At vs1, "Now the Lord appeared to him/Abraham by the oaks of Mamre, while he/Abraham was sitting at the tend door in the heat of the day." Vs2, "And when he lifted up his eyes and looked, behold, three men were standing opposite him; and when he saw them he ran from the tent door to meet them, and bowed himself to the earth."
I'm going to shorten this and say that one of the men was the angel of the Lord and the other two men were actual angels. You can read the dialogue between Abraham and God from the rest of the chapter. At vs33, "And as soon as He had finished speaking to Abraham, the Lord departed; and Abraham returned to his place. At Genesis 19:1 it says, "NOW THE TWO ANGELS came to Sodom etc.
Now comes the best part which is at Genesis 22. The Lord God ask Abraham to sacrifice his only son Isaac. Vs10, "And Abraham stretched out his hand, and took the knife to slay his son. Vs11, BUT the angel of the Lord called to him from heaven, and said, "Abraham, Abraham!" And he said, "Here I am." Vs12, And he said, "Do not stretch out your hand to him, for now I know that you fear God, since you have not withheld your son, your only son, from Me."
God provides a ram for Abraham to sacrifice. Now to vs15, "Then the angel of the Lord called to Abraham a second time from heaven." vs16, "and said, "By Myself I have sworn, declares the Lord, because you have not withheld you son, your only son, vs17, "indeed I will greatly multiply your seed as the stars of the heavens, and as the sand which is on the seashore; and your seed shall possess the gate of their enemies." Vs18, "And in your seed all the nations of the earth shall be blessed, (why?) because YOU OBEYED MY VOICE."
The objections by the Jews to nullify all of this is based on the principle of "agency." The actual word used is "shaliach." This means (to them) that an agent can can legally authorize someone to act on one's behalf as if the agent is the principal himself. In this presentation God assigned an angel to act in His behalf.
There is one "GIANT" problem with this excuse. Angels "CANNOT" swear oaths on behalf of God Almighty Himself. Swearing an oath is a matter of one's conscience. In other words, the agent (even according to the Jewish Virtual Library) says there are limitations on what an agent or emissary can do. One of these limitations is the swearing of an oath.
Now, notice I have not used one verse from the New Testament to prove my point in all of this other than rightly dividing the word of God concerning the prophecy of John the Baptist. There is not one excuse you can bring up that I don't know how to answer or address. I am not "bragging" but just saying I've hear them all.
Some questions to think about. One, the angel of the Lord never appears in the NT as the angel of the Lord. Two, it's interesting that the angel of the Lord calls out of heaven two times when God Himself has called out of heaven Himself. (Exodus 20:22 and at NT Mark 1:11). Look at what the writer of the Book of Hebrews states at Hebrews 6:13,14, "For when God made the promise to Abraham, since HE COULD NOT SWEAR BY NO ONE GREATER, He swore By Himself, vs14, saying, I will bless you, and I will surely multiply you." Luke makes mention of this at Luke 1:73. Finally, keep in mind there are other places in the OT where the angel of the Lord makes appearances including the burning bush at Exodus 3.