Probably. My understanding they were in Jordan to train Jordanian troops and “monitor” the situation. I think they were a tripwire, which was just tripped with no consequences. Either respond very disproportionately or withdraw.
Well, OK. LOL.
This website has been filled with articles over the last 15+ years about U.S. military activity in Syria against the Assad regime. The idea that U.S. troops are stationed in Jordan on its Syrian border for benign purposes is comical on its face.