Definitely, and some reviewers went as far to say that you can just buy the SP4 TypeCover and keep on using your SP3. Didn't work out well for me though, my SP3 was buggy as hell (wifi issues, couldn't wake up from sleep etc).
There were a ton of firmware issues earlier. They have been (mostly) ironed out now. It was baffling when SP4 launched with so many issues. You'd expect that they would have learnt a lot from fixing the issues on SP3.
OT: Let's see how they fare with the SP5. I hope they upgrade the Surface 3 this time.