Yes. The rate of diffusion depends on the average velocity of molecules, which determine the average kinetic energy of the gas, which is precisely what established the temperature of the gas.
When the temperature of a gas is increased, the molecules, on average, move with greater kinetic energy and thus, greater speed. This greater speed will reduce the time needed to travel the distance known as the mean free path , which is the average distance between collisions with other molecules. This, in turn results in a more rapid mixing of two gases.
By the way, the rate of diffusion will also depend (inversely) on the mass of the molecules. More massive molecules will diffuse more slowly.