Yes. Based on the described image, it is most likely lens flare—specifically a ghost reflection caused by the bright headlight inside the lens/camera optical path.

A strong clue is that the artifact appears to match the headlight’s shape and structure, and ghosting often shows up as an inverted or reversed reflection located roughly opposite the bright source across the center of the frame. Very bright lights can produce these secondary reflections between lens elements and sometimes the sensor.

So this is not likely an object in the sky; it is a reflected image of the headlight created inside the camera system.