No, they didn't. They were off by 4 in AZ (and called it for Trump), by 5 in Georgia (again for Trump), 6 in Michigan (again), 8 in Wisconsin (and again), and 3 in PA (which they, again, called for Trump). They were also off by 7 in Minneapolis (which they correctly called for Biden) and 6 in Ohio (which they correctly called for Trump).
There was a narrative on e-day that Trafalgar had done a good job, because Democratic votes were disproportionately counted later in the week. But if you'd relied on Trafalgar predictions to allocate resources in an election, you'd have gotten depantsed.
Moreover the Trafalgar head of polling went on Fox a day before the election claiming that there would be 4% points of systematic election fraud happening in Pennsylvania. So "nutjob" and "wacko" would be underselling them.
There was a narrative on e-day that Trafalgar had done a good job, because Democratic votes were disproportionately counted later in the week. But if you'd relied on Trafalgar predictions to allocate resources in an election, you'd have gotten depantsed.