Yes, in fact William Ukers, in his exhaustive book All About Coffee (1922) describes a British practice of brewing at room temperature overnight, and then very gently heating the strained coffee in the morning.  My first introduction to cold brew in the 1990’s was when an acquaintance described a similar practice of brewing a cold brew concentrate and then diluting it with boiling water to make a hot cup of coffee.  Either way, it can be done.