Yes there are several ways to do it:

1. Put a password on a specific video and share the password with specific people
2. Make them “internal”, they will not be distributed via activity pub and only people who have an account on your instance can see them (this is what I do, I gave friends and family an account on my instance, about 90% of my videos are internal)
3. Make the video unlisted, like on youtube only people with the direct link can see it, doesn’t federate and doesn’t show up in lists or search
4. Make it private, only you can see it