Yes.
And honestly, if you think a big company like Apple does anything without the motivation of making money, then frankly you're being starry-eyed and naive.
Maybe if they were a little start-up or something, sure, I could buy that argument. But yes, I entirely, whole-heartedly believe that Apple is doing this for money. If not, why not release the air pods first, then release a few generations of iPhones with audio jacks? It's not like having that little hole in the bottom of a phone would stop Apple from generating more "magical" technology.
I don't doubt Apple thinks that air pods are cool, but come on, seriously.