Yes, in versions before OptiX 7.0.0.
Use the OptiX SDK 6.5.0 which is the most recent SDK release with both the older OptiX ray-casting API and OptiX Prime ray-intersection API.
Documentation for all of these is available online here: https://raytracing-docs.nvidia.com/
Both SDKs also contain an optixRaycasting example which shows how to do ray-triangle intersection testing only with the full OptiX API, which would use the RTX hardware and allow much more flexibility than the old OptiX Prime API, though GPU-only then.
See here: https://forums.developer.nvidia.com/t/optix-error-failed-to-load-optix-library/70671/53
Also it could be that there are issues with OptiX Prime on recent Linux drivers according to that thread, which is to be investigated internally.