For normal active I3C Slaves, yes. They should only drive the bus for an In-Band Interrupt (IBI) when they have seen a STOP and the tBusAvailable time has elapsed (about 1µs), and in response to a START (but not a Repeated START).

For hot-join devices, they do not know the bus condition, so they wait until the bus is IDLE, which means the SCL and SDA are both high for the tIDLE period (about 1ms).

FAQ Type: 
I3C