Yes. A simple way to check for front- or back-focus is to use a focus test chart. Set up the chart carefully, use good light, and focus on the marked target, then review the image at high magnification. If the sharpest area consistently falls behind the intended focus point, that indicates back-focus; if it falls in front, that indicates front-focus.

A commonly used printable chart is the one from focustestchart.com, with the practical instructions beginning around page 13 of the PDF mentioned in the community answer.

To make the test more reliable, use a tripod, the widest aperture, and avoid camera movement. Repeat the test a few times to see whether the result is consistent. If it is consistently off, calibration or service may help; if results vary, technique or test setup may be the bigger issue.