If the USB drive was not encrypted, the uncomfortable answer is usually yes. Anyone who finds it may be able to plug it into another computer and browse normal documents, photos, spreadsheets, PDFs, backups, or project folders.
If files were copied to the public part of a USB drive with no password or encryption, the files are usually readable from another PC.
Changing a file to hidden, moving it into an unusual folder, or renaming the folder may slow casual browsing, but it does not stop someone who knows how to show hidden files.
Read-only settings can reduce accidental editing, but they do not prevent someone from opening or copying the files.
A ZIP or 7z password can protect archived files, but any files left outside the archive remain exposed.
GiliSoft USB Encryption helps before the USB drive is lost by creating a password-protected secure area for private files while keeping a normal public area for non-sensitive files.