Not "possibly," "maybe." Definitely.
"They let us go. There's no other explanation for the ease of our escape."
Leia had just run a blockade and seen her ship boarded and her crew of trained soldiers massacred. She knew how stormtroopers operated, and knew when they were holding back. Luke was a farmboy who knew stormtroopers only from recruiting commercials. Han was a smuggler who dropped his spice consignments at the first sign of an Imperial cruiser. Neither of them had half the experience with Imperial squad-level tactics that Leia had.
Never mind the fact that putting out a kill order on the Falcon's crew after emplacing a homing beacon would be kind of thoughtless.
ROTJ
The scouts and stormtroopers seen in ROTJ were not crack troops. The Emperor's legion was stationed at the shield generator, where he planned to ambush the Rebels. He had not planned to ambush them at the back door to the power generator; the Rebels didn't even know about the back door until the Ewoks told them about it. The units stationed at the back door were obviously undermanned (perhaps they reinforced the legion at the shield generator). They were surprised when the Rebels showed up at the back door, and scraped together whatever units were nearby while the main force waited at the shield generator for the expected decisive attack.
a) The back door units have no AT-ATs; we saw at least one AT-AT at the shield generator earlier. The back door wasn't important enough to rate any heavy armor.
b) They have no guns. While the assault force in ESB carried at least one E-WEB with them, and the clones of their eponymous war had varying types of artillery, this group seems to have only carbines, pistols, and their vehicle-mounted weapons, none of which are very heavy. (Okay, the AT-ST has some firepower, but ISTR those were driven by soldiers, and we're talking stormtroopers.)
c) Their reinforcement force is reported to be only three squads. Typically, 1/4 to 1/3 of a defensive unit is held in reserve. If they could only muster three squads in reserve, they probably only had about a company on hand, maybe a CO(-) -- having detached their weapons platoon (or the Imperial equivalent) to the main force. And their three squads look more like three fire teams -- more evidence of undermanned units.
d) That reserve force was an admixture of stormtrooper and Naval personnel. (Saxton might've spotted an soldier in there, too, but I don't recall.) Even more evidence of a very hasty defense.
While the prowess of the defenders is often overestimate, the combat power of the attackers is usually underestimated.
a) There is a virtually unlimited number of Ewoks.
b) The Ewoks are familiar with the terrain, organized, motivated, and coordinate in their native tongue which the Imperials probably can't understand.
c) The Ewoks are either very stealthy or overlooked by the Imperials, which gave them the opportunity to seize the initiative and a time of their choosing.
d) The Ewoks had been able to emplace a number of anti-armor traps, probably under the guise of harmless forestry activity. (What we call "dual use" systems today.)
e) The Rebels brought a lot of skilled operators with them. In addition to General Solo and Chewbacca, a highly-ranked Clone Wars veteran, they brought General Madine and some number of commandos -- perhaps dozens, given the size of their shuttle. And of course their VIP, the inestimable Princess Leia. Man-for-man, the Rebels may have approached numerical parity with the Imperials in that battle. It would've been like sending Delta Force, Pershing, Puller, Ross Perot, and several hundred Sentinelese against a bunch of combat support reservists cowering in a bunker in enemy territory.
The footage we see in RotJ is carefully edited to avoid any "horrors of war" and focus on the efforts of our heroes, all while portraying the bloody chaos of battle as a carefully-scripted series of events. But looking at the bigger picture, including what was left unsaid in order to appeal to children and their overprotective parents, shows that the battle wasn't the farce its detractors usually claim it was. It was a completely different farce.