Most of the time, the answer to that is yes.
Mediation is often required, and it usually results in settlement. It saves both parties money, as preparing for and conducting a trial can be very expensive. It also gives both parties a sense of ownership of the result.
Both parties and their divorce lawyers are usually able to recognize that there is a risk involved in putting the contested issues before a judge or jury, and there is value in settling a case in a manner that eliminates that risk.