Yes. A stump that has been sitting in the yard for years can usually still be ground out, even if the tree before removal was cut down long ago. Age does not rule out stump grinding. It mainly changes what the arborist finds when they inspect it.
Older stumps are often drier and harder, and the roots may have spread or started to decay. Neither of these stops the work. They are simply things the team looks at when assessing how the grinder will approach the job.
Trees Down Under covers this in more detail in its article on whether old tree stumps can still be removed with stump grinding in Sydney. It is worth a read if your stump has been there for a decade or more.
If you are weighing up options, the team can look at the stump and explain what grinding involves for your particular site. Where it suits the job, the same visit can also cover tree stump removal questions and any leftover green waste.