Yes, but you’d need very specific conditions.
Lower gravity, abundance resources, food, and water.
The lower gravity part is important because it becomes more difficult for life to support its own mass as gravity goes up.
This is because of the square-cube trap. As an animal doubles in linear size, it’s volume multiples by eight. It’s leg bones only become four times stronger in this process.
This is, in part, why you see larger animals (like elephants and giraffes) having a much more lumbering gait and movement. They aren’t agile at all and are only just strong enough to support their weight. Whereas you compare this to ants—which are breathtakingly strong for their height.
The low gravity aspect is also well illustrated by the fact that the largest living creatures on Earth are, by far, aquatic species such as whales.
Conversely, in higher gravity planets that could support life, I suspect we’d see much smaller species overall.
So yes—it’s entirely possible there are planets with giant lumbering beasts walking about. Or at a minimum, ocean planets with even larger species than we currently have.