Yes, there are cases that have totally recovered. Very uncommon but it does happen.

We’re stuck on this ship, rock it out while it lasts. Could’ve had no legs, I’m contempt with this hand

All I can tell you here is, from what I read, is that symptoms can ease as a person ages, in cases of idiopathic narcolepsy.
In my case, no, as my (secondary) narcolepsy is caused by radiation damage to my hypothalamus. Keep reading all you can, & hang in there, yeah?
Jeff4