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Yes, to an extent. I had a Draytek router at my last job that had had the antennas split between 2.4GHz and 5GHz ranges.
https://www.draytek.co.uk/support/guides/kb-wlan-replacing-antennas
Pointing the 2.4GHz horizontally antenna made a big difference for better signal on 2.4GHz on the floors above/below.
https://www.draytek.co.uk/support/guides/kb-vigor-wlan-antenna-theory
Has anyone measured their router with the aerials in different positions? Do they impact anything? I've got three aerials out the top of my box - is there any optimum position for them?