Yes, thanks to the INF treaty, which caused the removal of both the Pershing II and the SS-20 intermediate range nuclear missiles. I was living in West Germany at the time. I remember.

However, the US has now unilaterally withdrawn from the INF treaty, while simultaneously deploying "nuclear capable" MK 41 Aegis Ashore missile batteries to Eastern Europe (Poland and Romania). These launchers can be reconfigured to offensive nuclear missile batteries in less than half a day with a swap of the firmware and hardware.

Russia has protested this. To no avail. Ukraine joining NATO would mean these same missile batteries would be deployed to places only 5 minutes' flight from Moscow. This is unacceptable to Russia.