Yes, but thats not typical. Since 9.2, most X.x updates don't go to PB beta 1.
Every iOS 10.x beta 1 was available to both - developer and public beta tester. It makes no sense to skip the first beta for the PB as they based on the same code basis as iOS x.0.
For the major upgrade it makes sense to skip the first beta for public users as they are often based on a new framework. iOS x.1 already has a common framework to build on.