Yes, for every action in the act-with-undo tier. Undo is scoped by the receipt: it reverses exactly what the receipt proves happened, and produces its own receipt of the reversal.
Undo in Heidi is not a best-effort compensation. Because every act records evidence of what actually happened, the reversal has a precise target, and the Ledger keeps the full story: act, proof, reversal, proof of reversal.
Actions with no honest undo never enter that tier in the first place. The deep dive is at falkster.ai/answers/act-and-undo.