Yes. Fifteen months into my Honda Odyssey lease, I sold my car online to vroom.com. Vroom.com and Honda Leasing did most of the paperwork. My work was only at the beginning, when I created an account, received an offer from Vroom.com, and accepted it.
2016 Honda Odyssey Elite, leased in November 2016 which I sold to vroom.com thirteen months later. Mileage at the time of sale, 15,000 miles. I received $34,000, which was only $600 less than the Honda lease payoff amount at the time, and which was almost $2000 better than what CARMAX offered. In the end, I was only a little upside down in my car.