Every time that I've seen them warp out into the middle of a Debris/Asteroid field, it's been with TOS era StarShips.
So there might have been sensor limitations at that time that TNG era ships don't have.
If you mean TOS era starships from the reboot movies and current series like Discovery, then yes. This did not happen during the original TOS series (unless you have some specific episodes in mind.)
As far as TNG era ships, the current series like Lower Decks had the Cerritos drop out of warp in "Wej Duj" unaware of the presence of the Pakled and Klingon ship. I don't believe earlier TNG era series had this limitation.