Sort of, not quite.

The basic background is that Einstein wrote a paper taking Lorentz more seriously than Lorentz took his own work: and that paper suggested that just maybe, when you accelerate in any given direction by an acceleration A, you see all of the clocks ahead of you some distance z tick faster by a factor A z / c², where c is the speed of light in vacuum, and behind you they tick slower with the corresponding negative z until a wall of death at z = -c² / A where clocks do not tick at all and time appears to stand still. This is in fact the only new fact that special relativity adds. Lots of people got very confused about the philosophical implications, but the mathematical implication is that time and space can be mixed together by these accelerations and must be treated as one unified geometrical entity.

Einstein then went one further on the whole 4D thing, because arguably we are always accelerating in this whole gravitational field of the Earth. You have a lot of options to choose from. So this part took Einstein many many years to work out. Maybe the easiest is to say that we standing on Earth are a non-accelerating reference frame, and then anybody who falls must see a wall of death somewhere out in space. That turns out to be a very boring approach, and also wrong. What Einstein suggested instead was that you are in a non-accelerating reference frame with no wall of death if you are in free-fall, and we standing on the Earth would see a wall of death beneath our feet, except we can't see beneath our feet. But if a body were more massive, maybe we could see the wall of death from orbit. And now we have a photo of a black hole to prove it! But even before that, the essential point is that if I put a clock up somewhere high (on a tower, in a plane, or at the top of a mountain) and I am standing on the ground, then I am accelerating towards that clock relative to free-fall: so that clock must be ticking faster than my clocks are. And we have had direct observation of that “gravitational time dilation” for a long time.

Mathematically, this means that we are in a manifold that looks locally 4 dimensional, in this weird way of coupling the four dimensions that couples accelerations with the ticking of clocks. We say, going back to this guy who worked out all of the mathematics before Einstein, that the manifold is locally Lorentzian, as opposed to Euclidean. But the manifold is four dimensional, not three dimensional. It has to have this coupling between time and space locally. But then globally it can have these interesting features like black holes.

Now, whether we can embed this curvy universe that we inhabit into a larger dimensional flat space, is not necessarily a given. I don't know many physicists who are deeply interested in that sort of question. Certainly to have the structure that we need, it needs to have Lorentzian timelike dimensions in it, one of which we use as our time dimension. Certainly also, the people working on string theory use these extra-dimensional possibilities to solve certain mathematical inadequacies that their string theories otherwise have: but usually those dimensions are locally available, so we would see them; so there is some sort of hand-waving about how they must be curled up into such a small length scale that we cannot actually observe them. But there is certainly a branch of string theory called M-theory that I do not personally know too much about which has something to do with viewing our universe as a geometric entity in a larger space.

Thankfully, the mathematics does not require this. The essential point of a manifold that the article somehow leaves out, is that I am no longer going to rely on global coordinates. I only care about local coordinates. So on the sphere, it is a two dimensional object, even though it lives in a three dimensional space, and that's because depending on where I am, I can uniquely identify points near me on the sphere by either their x & y coordinates, or their y & z coordinates, or their x & z coordinates. This fails for points that are not nearby me, because projecting a globe on to a flat surface this way will project two hemispheres onto the same point. But I can always choose one of those three and find myself in the middle of a hemisphere, and describe everything else on that hemisphere with those coordinates. So the whole point of a manifold is that I don't need global coordinates, and therefore it doesn't matter much whether or not I am embedded in a larger flat space or not.