Having been one of those who was there in the early days, although not with SGM Parker, I would say NO.
JKD while it is dynamic, is a compilation of material from many different systems, and most of it, at the beginning, was simply fast, basic material. Bruce Lee's art, was not an art of depth or really too much insight. It depended and still does depend on the individuals desire and ability to dig for himself.
JKD was the first of many styles that came with no validation insofar as roots and history. Bruce Lee spent much time digging and studying various methodologies and then simply placing them into an organized book... The Tao of ...
All of the early people who came to Bruce Lee and carried on his methods are the reason that JKD ever received validation. There are other styles/schools that came later, some probably just as good as JKD, but they were and still are seen as wannabes. Bruce Lee had the inestimable good fortune of being first with JKD, then having a movie reputation.
No... Any real influence he has had on Kenpo has been at an individual level where instructors, now and then, looked at what he had formulated and applied it to their own philosophies of motion. I believe that some of the old folks who were there, like Dr. Chapel, for instance, will tell you that Bruce Lee probably took much of the influence of SGM Parker and applied it to his own research.
Just my opinions, for the most part, and I could definitely be wrong.
Dan