Yes, as dictated by one's flexibility. Or, at least, that's what we want - stay closed as long as possible, open the hips into foot plant only as much as required based on flexibility to open the front foot/leg into foot plant, and then complete hip rotation after foot plant.
Need to recognize that pitchers have different flexibility. At one end of the scale would be someone like Sebathia while someone like Lincecum would be at the other end of the scale. Obviously, both of these guys are good.