No the old packages are removed and we do not maintain snapshots of Rolling.
Removed packages were removed because they could not build against the current version of ROS 2 Rolling. Rolling is only ever “supported” in the current testing and main repositories and no earlier versions of Rolling are recommended for regular usage.
If you rely on a package which is removed the best thing to do is work with the package maintainers to resolve the build issues so the package can be re-introduced in a future sync.
In general, I’ve tried to avoid syncing with regressions in Rolling where possible but doing so further delays Rolling syncs and given Rolling’s role within the ROS community I think it would be better to sync more frequently with regressions when required.