Yes, but only if your firewall is set to reject instead of drop. The documentation you linked mentions this; that’s why open ports are listed as open|filtered because any port that’s “open” might actually be being filtered (dropped).

On a modern firewall, an nmap scan will show every port as open|filtered, regardless of whether it’s open or not.

Edit: Here’s the relevant bit from the documentation:

The most curious element of this table may be the open|filtered state. It is a symptom of the biggest challenges with UDP scanning: open ports rarely respond to empty probes. Those ports for which Nmap has a protocol-specific payload are more likely to get a response and be marked open, but for the rest, the target TCP/IP stack simply passes the empty packet up to a listening application, which usually discards it immediately as invalid. If ports in all other states would respond, then open ports could all be deduced by elimination. Unfortunately, firewalls and filtering devices are also known to drop packets without responding. So when Nmap receives no response after several attempts, it cannot determine whether the port is open or filtered. When Nmap was released, filtering devices were rare enough that Nmap could (and did) simply assume that the port was open. The Internet is better guarded now, so Nmap changed in 2004 (version 3.70) to report non-responsive UDP ports as open|filtered instead.