no they did not because around this time there was a war between Sand and konoha and rain was also a battleground where the young Sannin had first recieved their titles from Hanzo, then leader of rain village. minato being jiraiyas student later made it impossible for him to participate in the 2nd shinobi war with the sannin before they were sannin. kushina wasnt introduced to konoha yet. she most likely was still living in whirlpool country during this time.
Actually, Kushina moved to Konoha during her early academy years where she first met Minato. Minato would later be the hero of the 3rd great shinobi war in what was probably his early- to mid-twenties.