Absolutely. Tapasya (tapa = heat) was done in the past for burning karma as without it, one would not attain the purity of mind to perceive non-dual nature of the self.
One can see that in the life of Ramana Maharshi. For him, ever abiding in a non-dual state, there was no localized consciousness restricting his notion of “I” to his body-mind-complex and hence also not to Karma or its impact. Whatever happened to his body and mind, he just did not perceive it as affecting him the real “I” - so he really suffered nothing! The body suffers, so does the mind, and the emotion - but when one’s identity is experienced as the True Self beyond these, there really is no suffering!
https://tamizhini.in/2019/05/22/ramana-maharishi-cancer-and-his-last-days-amalan-stanley-v/