Yes. We're going through the process with a two year old semi-feral
cat that has lived with us for six months. She wasn't born feral, but
was abandoned sometime in her 1st year and ended up living on the
fringes of a colony. At about 13 months, she was picked up in a TNR
program, and the kind woman who trapped her saw how scared she was and
didn't want to return her to the outside. She "somehow" convinced a
no-kill shelter that the cat was adoptable, and the cat stayed there
for six months until I adopted her as a companion cat.

It's certainly been an experience and I've learned a heck of alot
about cats. She spent the 1st month under the bed and the second month
scattering whenever we entered the same room as she was in.

But at six months, she begs for pets and will cuddle with me, allows
me to collar her and give her flea treatments and will roll over and
show me her belly. She tolerates an occasional pickup. But she makes a
little progress every day. Most importantly, she gives me those
wonderful slitty-eyed looks of gratitude and contentment regularly :>

It just takes time. And it's hard because we want a cat to "give" to
us emotionally and a really scared cat just can't do that at first.
They have to just "take" love and affection and care and stability for
a while. They have a deficit.

Talk to the cat alot. The sound of your voice is soothing and I swear,
they get something from it. I do think having another more socialized
cat around for your cat to observe is very helpful. She sees how the
other cat trusts me. Try to be consistent about schedules so the cat
has a growing sense of security. They like to have things they can
depend on and boy do they have an internal clock. Try to give the cat
space to observe the people and what they do without drawing your
attention. And be patient. Cats need and want affection and the kitty
will come to your for it. In time.

Good luck!