Yes, I think that is a possibility. On a couple of occasions I've noticed that my EF70-200L /2.8 will hesitate before acquiring focus, it hasn't actually locked-up but I suppose that it could sometime in the future. That lens is an older model that I've had for a few years now.
Also, an EF20-35USM lens that I owned a few years ago had to be serviced twice, in the time that I had it, for focus motor failure. I'm not sure that you could say it locked-up it more or less just stopped working in the middle of a shoot.
These USM focus motors definitely do have a lifespan of a certain number of activations, I'm not clear on the exact number, somewhere in the range of 20,000 or so, I think.
Cal CPS432