Yes and no.
There is no software that can remove the censoring and get you the original video. However, there is software that uses AI to replace the censored bits by what it thinks should be there, with varying results. The smaller the squares that are used, the easier it is for the software to come close.
If you go to a site like sextb.net and look for movies listed as [Reducing Mosaic] you can see movies like that. Watch a few and you will see the quality will vary from very blurry genitals to almost impossible to tell it used to be censored.
The software for this is called JAV Player. At least that's what is generally available, it wouldn't surprise me if some people have better software that they keep a secret to avoid problems.