Not quite. We made it to the 16 in 1994. We weren’t one of the top 2 teams in our Group, but we were one of the best 3rd-finishing teams, so we made it to the second round, only to be eliminated by Brazil.
We made to semis in 2002, much better result than 94 even.
We made it to the Final 8 in 2004, and pretty much outplayed Germany, and could have easily reached the semis, if not for a questionable call, which should have been a US goal.