Hm, kind of.
As @CurtGreen suggests, RPC is useful for internal service communication. Whereas REST is more typically used for client to service communication.
So for example, if you consider a basic microservice architecture with two services, a registration service and a email sending service.
The client (the website) would send a request to a REST endpoint of the registration service with an email and password, the registration service would attempt to create the user and if successful, the registration service could use RPC to tell the email service to send an email to the user who signed up.
I noticed recently that some of the more modern Google SDK’s seem to use RPC to speak to Google services.
Here’s some resources you might find useful.