Sure!
In the Seventh Doctor story “Battlefield”, a knight from another dimension that closely parallels Arthurian legend recognizes the Doctor as Merlin — even though the Doctor wears a different face now. This seemed to imply that at some future point the Doctor would be Merlin (though I guess the Timeless Child revelation means it might also plausibly have been some forgotten previous incarnation).
Before that, in the Sixth Doctor season-long “Trial of a Time Lord” sequence, the Doctor is prosecuted by a figure called the Valeyard, who’s apparently an “amalgamation of the darker sides” of the Doctor himself, from between his 12th and final regenerations. Some have simplified that to his being the Doctor’s future evil incarnation, which is pretty foreboding. The usual assumption was that the Valeyard was from between the 12th and 13th Doctors (or occasionally that he *was* the 13th Doctor). Obviously this didn’t happen in the revived series, and the thread seems to have been dropped, but theoretically they could do it at any time in the future.