Absolutely. So in the first ten episodes, there's three distinct filler episodes that I can think of. Aang and company visit the village with the lady warriors, Aang and company visit the village that is being haunted by an angry forest spirit, and Aang and company break the Earth Benders out of prison. They're all fun stories, with lessons to be learned, and create character development. But all three only marginally move the plot forward. So they're not filler in the sense that they're necessarily extrenuous or redundant, but they are filler in that the writers have to fill out an episode quota. The Dragon Prince, on the other hand, even with the filler episodes, almost seems to be rushing its plot forward. A good example in the other direction would be something like Samurai Jack, where there's an over arching plot in concept, but most episodes are just opportunities to tell individual stories that don't really hold any bearing on the story as a whole. For the record, I have zero problem with any three approaches as long as the pacing feels natural and all three series I just listed are done quite well.
Psst, I recommend The Rise of Kyoshi for a joy read. It came out the day of this Pubski. Halfway through and it's coming into its own after laying down the setting, plus a few very subtle hints of fan service/acknowledging the rest of the universe. kingmudsy and Gem shout out since y'all boop'd the hubwheel, might be interested.