Can We Ask for Guidance for Others?

Salam alaikum, everyone! I've been thinking a lot about making dua for hidayah, especially for those who seem distant from Islam. I've heard that Allah SWT gives guidance only when we take the first step ourselves. But what about someone who has a tiny spark of iman in their heart, yet lives a life that's completely opposite to Islamic teachings? Have any of you ever prayed for a brother or sister to become a more practicing Muslim? Maybe your spouse or a family member? I'm really curious to hear your stories and how things turned out after your duas.