Yes. After turning to the Dark Side, Quinlan Vos returned to the Light Side upon Assajj Ventress’ death. He returned to the Jedi Order and served as a Jedi General in the Grand Army of the Republic for the rest of the Clone War. However, the Jedi didn’t trust him fully for obvious reasons. Initially, they had people watch over him in case he betrayed them again. He never did, and his final known battle was on Kashyyyk just before Order 66 was given by Palpatine.