Yes. About 20 years ago when I had a 44 km round trip as a commute I did an experiment to compare the effects of "roadster" bars (relatively upright position) with drop bars (relatively sporty position) on a Moulton bicycle, while keeping gearing and tyres the same.
Averaged over several trips to try and reduce the inevitable bias due to weather, differences in physical condition/motivation, etc., the speed with drops was 25 km/h, with "roadster" bars 22.5 km/h, so about an 11% increase.
More recently, about 10 years ago I did a test ride with my Brompton folder, riding predominantly in the low position on P-bars (very aerodynamic but very uncomfortable).
Around my usual moderately hilly training circuit of about 50 kms I managed an average speed of 25.89 km/h, despite the lower efficiency of the folder due to bar and frame flex, slightly less efficient 5-speed hub gearing and inferior tyres. This speed was slightly better than my average of 25.19 km/h for 26 circuits on my lightweight derailleur bike with drop bars and a relatively sporty position.
The ride with a very low position was a one-off (too uncomfortable to repeat), so not statistically significant.
The big difference was that I could just about sustain the very low position on the Brompton for less than 2 hours, whereas I could go all day in the less extreme but more comfortable position on the derailleur lightweight.
Another bit of anecdotal evidence in favour of comfort was a couple of rides I did from where I live in south Brittany to the coast in north Brittany. The distance is about 130 km give or take 10 kms.
The first time I used my derailleur lightweight, and my speed for the trip was about 24 km/h.
The second time I used an old 16" wheel Moulton, with 5-speed hub gears and drop bars, with this I took longer and my speed for the main trip was about 22.5 km/h.
But the Moulton has an effective front and rear suspension system, so at the end of the ride I felt much fresher and was able to do another little circuit of about 20 km.
Relatively wide tyres run at relatively low pressures have a similar effect to suspension, which influenced my choice when I came to buy a Thorn touring bike.
So for best efficiency when cycling my priorities are :
1 - Aerodynamics, so a reasonably sporty position with drop bars or flat bars and bar ends. But NOT at the expense of comfort.
2 - Efficient tyres. I like them fat but light, with supple side walls and not much tread. There are tables on the Internet comparing the efficiency of different models of tyre. As for position, this is a compromise, the fastest possible tyres have no puncture protection so are actually slower when the time spent on changing tubes or patching them is factored in.
3 - Weight. As I am fairly heavy myself I don't bother about having the lightest possible bike or components. But if cycling somewhere hilly it makes good sense to carry the smallest reasonable amount of luggage. Having lots of pannier bags is also not very aerodynamic, so will affect speed even on flat terrain.
Other stuff, like the type of gearing, is less important for me. Hub gears are supposed to be less efficient than derailleurs, but in back to back tests comparing Shimano Nexus 8 Premium and derailleur I didn't notice all that much difference. Rohloff is supposed to be more efficient than the Shimano hub gears and has the range needed for mountain touring.
Anyway, factoring in the extra time spent maintaining derailleurs makes hub gears faster overall for me for commuting and other utility rides. Once I got over the price hurdle for the Rohloff, the same principle applies for my idea of long-distance touring.
It would be different if I was into road racing.