Yes. The courts always encourage settlements even in the middle of a trial. The parents can and should keep talking with each other if there are no orders of protection in place or injunctions.
If the parents are in the middle of trial, that means they tried to settle the case with every settlement permutation the attorneys and the court can think of, but it hasn’t happened. While it is possible that cases can settle in the middle of the trial, it becomes increasingly unlikely once a trial actually begins.