Were there individuals who sincerely followed Allah's guidance before the time of Prophet Muhammad (peace be upon him)?

As-salamu alaykum, I've come across discussions mentioning a group known as Hanifs in pre-Islamic Arabia who rejected idol worship and sought pure monotheism. Prophet Muhammad (peace be upon him) and some of his early followers were associated with this tradition. Would these Hanifs be recognized as true believers who preceded the formal establishment of Islam?