Yes I would say so. But it’s not about the “platform” (Youtube or otherwise). There are strong indicators that “time on site” (or dwell time) as a quality factor is also a ranking factor for Google.
Therefore, by having a video on a page, and having users play it (and watch it) should theoretically increase the time they spend on any page with video, and thus help it rank. It’s a small factor, but every bit counts 