Not entirely. He also loudly criticized the rationale for the invasion, at least in his last few months [edit] (although carefully blaming the MoD for the deception while excusing Putin for being misinformed):

"The Ministry of Defense is trying to deceive the public and the president and spin the story that there were insane levels of aggression from the Ukrainian side and that they were going to attack us together with the whole NATO block," the Russian businessman [Prigozhin] said. "The special operation was started for a completely different reason."[0]

[0] https://www.newsweek.com/prigozhin-wagner-group-putin-ukrain...