Not yet. That's part of why Putin is trying to take it- to prevent a NATO nation directly on his border. He's demanded their promise not to join a in every proposal.

Here the Kremlin papers from 2002 where Putin states Ukraine can join NATO and the EU if they want to because they are a sovereign country.

He wasn’t bothered though because he knew his cronies was in power so it was only when Zelensky came to power and couldn’t be bought and wanted to take his country into EU and eventually into NATO he panicked en.kremlin.ru/events/presi...

Yes, the objection appeared with Zelensky.