Basically yes. If you cannot 'absorb' all the possible routes you might be given, best to be fully aware of the immediate routes following runway exit points and then if in doubt stop in a safe place and either ask (best) or look at the charts. We all make the occasional mistake, though.
Apocryphal story::
LGW, early morning, US pilot arrives, slightly 'snippy' lady on Ground freq
"ABC 123 - I told you to take the second left on 'J', first right onto 'R' to join 'L'. You took the first left and are now on 'K' "
ABC123
"Sorry mam - say, was I ever married to you?"