No, with the exception of the great jam bands such as the Grateful Dead and Allman Brothers. Those guys could sustain solos and spontaneous interplay (well, more often than not).
I saw Zep 38 years ago - awesome! - but I can still remember the draaaaag of Bonzo's endless drum solo during "Moby Dick." No one ever surpassed Bonzo as a band drummer, not a soloist. Most rock musicians are made to rock, not jam. Leave the improv to jazz musicians.