No. I have ever tried it but was unsuccessful.
See the following article. It explains what I tried.
This keyword WebDriverFactory aimed to start Chrome browser with predefined Profile where (I suppose) stored the cookies created by previous sessions. I could develop the Keyword class. When I ran the keyword, I expected that Chrome browser to open carrying over all the cookies of previous sessions into the current.
However, Chrome browser silently ignored all the cookies I injected. I could not find any technical/readable information how Chrome internally treats the dirty stuff in the predefined Profile. I could not trick Chrome browser. I abandoned my idea — injecting prepared Chrome Profile may effectively enable me to prevent reauthenticating.