Absolutely. There are many cross border workers France/NL/Germany/Austria/Switzerland etc. Perhaps one of the most common examples is Switzerland, which is not EU but is Schengen. They hire a lot of French around Lake Geneva (which is half in Switzerland and half in France) because the rate of pay is far lower than what they would have to pay Swiss. And many on the border with Germany work there but live in Austria, because cost of living can be lower.
Or look at Strasbourg, seat of the European parliament. It sits right on the German border. (Similar with Brussels) On a normal day, the flights from Frankfurt, Zurich etc are filled with Europeans flying around for work. Then there are those taking train, or driving across. The airport in Basel/Mulhouse is physically in France but you can exit it into France, or Switzerland. It also sits on the German border. These activities were of course reduced in the past months, but are increasing as business and government opens up again.
So for your question, it even was more complex as we have countries with their rules, and then countries like Germany where the states have their own rules. One state even went to court to drop the international arrival quarantine last month. There isn't alignment, just like in the US. One state dropped the mask rule, others are thinking of it. What you can do in one state varies from another.
So in the case of Europe, quite complex, add in Germany even more complex.
So yes, there were crossings daily