Not exactly? It's possible, but most of the time no one really knows what constitutes having a soul in the first place. And even if they didn't, how would one go about figuring that out? There isn't exactly a spell called "Find Soul" or anything like that. Strictly speaking you're a human without a soul, you still ping as human for the purpose of stuff like hold person, charm person, etc.

Now having your soul removed, possibly at birth, in and of itself is not unheard of for those wise in the way of magics. Anyone who consorts with the likes of fey or demons would know that this is entirely possible, though this also typically kills the child and results in a stillbirth. And even so there's some debates about if that is truly the cause or if it's more a medical issue (Keratia is at that weird point in scientific development where they can try for a purely scientific method of healing, technology, and so forth, but magic adds in factors that no real-life science can explain sufficiently). Theologically speaking, it is your soul which joins with the gods after death, and it is also the soul that can haunt a corpse or location depending on the circumstances of one's death as well, so a lack of a soul means that doing either isn't possible for them. But for someone to [i]live[/i] without ever having soul is almost unheard of. Even Lich's technically have souls via their Phylactery, so they are not truly soulless beings. Golems and constructs are generally considered soulless as the likes of Warforged have not yet been discovered (Buddy himself being a very bizarre entity even within Keratia).

So tl;dr is no, no one has ever been born without a soul.