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Absolutely. In S1 when Zatara puts on the Dr.Fate helmet and Zatanna effectively loses her dad, Dick/Robin is hovering around her looking like he wants to comfort her. He knew better than anyone there the pain of losing a parent. But no one around him knew that part of his life.
Later on in the Haly's Circus episode, we see that Wally knows about his past but precisely because of that he doesn't bring him on the mission. It's a liability. But that makes him so very lonely and isolated going through that journey alone despite having a team around him.
I was rewatching Young Justice and the fact that all versions of Robin are the only one forced to keep their secret identity even with their teammates and friends is usually written off as Batman being paranoid. I think it's more than that, that it's his way of giving the kids an 'out'. If they ever decide they don't want to fight crime anyone they have a safe identity to return to, no obligations.
They are children first, soldiers second. Bruce knows better than anyone the loneliness his job brings and of course he would want better for anyone, especially his kids.