Not within the Imperium; Dante's basically stated to be one of the oldest living Space Marines, and he's only around a thousand years old. There are definitely Eldar and Daemons who remember the rise of Humanity, but they don't tend to talk to humans much; unless one of the vanished Primarchs returns or Gulliman/the Lion/the Emperor wakes up we've pretty much lost all living witnesses to those days. Bjorn the Fell-Handed doesn't count, he's way too senile to point out to the modern Imperium that the Emperor took a dim view of religion.
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