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No. Eleven saw the TARDIS voice interface project an image of Rose in "Let's Kill Hitler". That was only an image, though, not Rose herself.

In "The Day of the Doctor" (the 50th anniversary special of Doctor Who), the interface of the Moment took on the likeness of Rose/Bad Wolf. Again, that wasn't Rose herself. In any case, only the War Doctor saw it; neither Ten nor Eleven could see or hear the interface at all.