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Yes, in the same way that all of the Andoran nobility are cousins.

It helps me to visualize some of the relationships with a family tree. This one's from The Thirteenth Depository (which has lots of very interesting articles and I highly recommend everyone poke around there).

Like Galad and Rand being half-brothers? They shared a mother (Tigraine) but had different fathers, Rand's being an Aiel named Janduin and Galad's being Taringail.