Unfortunately, yes. There is no safe level of asbestos. Just one instance of exposure could mean asbestos fibers were inhaled or ingested and remain in the body.
Symptoms may not show until 20-50 years after your first exposure. That is why it is so important to be mindful of the risk factors and symptoms of asbestos-related illnesses.
Working with doctors regularly will increase your chances of detecting the illnesses earlier and beginning critical treatment.