Yes. Tug-of-war competitions were held at every one of the first five modern Olympic Games. It is still recognised as a sport by the OPC, and could hypothetically make a comeback.
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It was included in Olympics from 1900 until 1920, but it is not any more.
It is still recognised as a sport by the Olympic Committee and could, theoretically make a comeback.
Tug of war was an event at the Olympics from 1900 to 1920. It's hasn't been since, and will not be an event in Rio.