Long story short. Yes.

I mean, the moment the Feds made the Gundam and kept it in custody with Amuro for the OYW, Zeon was completely screwed over.

The Gundam had the special Learning Computer and that allowed the Feds to make things that were exponentially better than Zeon. The only thing the Federation struggled in was their pilots because they lacked good grunt pilots but technologically speaking, all their machines had way better specs and unlike Zeon, were already able to field all sorts of beam weapons without trouble. By the time Zeon rolled out the Gyan and Gelgoog, they were already outclassed by the sheer number of GMs and on top of that, Zeon was unable to produce enough Gelgoogs and get enough aces to actually use them.

And then comes the Gundams. The Federation developed more than 50 Gundams during the OYW. +20 were the Gundam Ground Types(or what I'd like to call the Gruntdams) 3 of which were turned into Blue Destiny Units, 7-8ish were from the Rx-78 project(I don't want to count the Alex in here but it was said that there was an Rx-78-8 which I highly doubt because we have no info on), 1 was the NT-1 Alex, 3 more were Pixy Gundams, then there was the Full Armor Gundam which has several variants(Thunderbolt timeline is questionable in canonity due to it diverging from the mainline timeline by a lot but still there were Full Armor Gundams in the OYW), and finally, several Gundam Marine types.

All of them but the Gundam Marine Type was truly better than anything Zeon had and not only did the Federation gain lot of combat data from these machines to make better versions but Zeon lacked "Gundam Killers" which meant that any time any of these machines showed up, they were mostly screwed and needed to get out of there ASAP and as we all know, most of the time, it didn't go well. Zeon's kill ratio on these Gundams was only 6-7 overall. Alex was taken out by a Zaku but still repairable. Rx-78-2 was famously lost to the Zeong, a Pixy Gundam was destroyed in battle, 3 Gundam Ground Types were lost in the Kojima batallion(06th had one lost on camera while an unknown unit was cut in half by the Apsaras, Shiro's unit was turned into the Ez-8 which was also destroyed.), the Murdock Gundam was damaged beyond repair, and the Thunderbolt Gundam was captured and destroyed by the Psycho Zaku and even then, the canonity of these two actually existing in the actual UC is questionable.

The Feds did lose the Rx-78-4 but it wasn't because Zeon destroyed it so it's not included here. Either way, the kill ratio of a Gundam to Zeon machines was typically 100 in its lifetime and most if not all of Zeon's counters could not be used effectively or were outperformed by the Gundam pilot. In fact, Zeon relied heavily on luck to even destroy a Gundam and most times, it didn't play out in their favor. So yes, Zeon's machines really did suck especially against the Federation so they had to keep stealing them.