Yes. I'm only 45, but even I can remember going to our doctor's house (in our same neighborhood) for vaccinations and routine care. The only other person there was his wife, who made hot tea and chatted with us at the kitchen table. I guarantee you, there were no insurance forms involved.
I read on ZeroHedge or Market Ticker a while back that if you got the government out of health care the cost of it would drop about 86%.