No he was not. He was dead by the time the Trojan War started. It s mentioned in a passage that he appears as a specter to Filoctetes.
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Hercules never existed yet during the trojan war.
Hercules
Hercules. Hercules had died and ascended to Olympus by the time Achilles was born. This is also evidenced by that the fact that in the Trojan War, Philoctetes had Hercules' bow and arrows, given to him by Hercules upon his death.
Nestor was the son of King Neleus, and became king after Hercules killed his father. He was one of Jason's Argonauts, and fought with the Greeks in the Trojan war. He was old and wise, and managed to survive the Trojan war. In the Odyssey, he is kind to Odysseus' son, Telemachus.
The Trojan War was a surprise.