Yes. It was mentioned in Indraloka Gamana Parva of Vana Parva that Arjuna spent full five years in heaven.
Vaisampayana said, "The gods and the Gandharvas then, understanding
the wishes of India, procured an excellent Arghya and reverenced the
son of Pritha in a hurry. And giving water to wash both his feet and
face, they caused the prince to enter the palace of Indra. And thus
worshipped, Jishnu continued to live in the abode of his father. And
the son of Pandu continued all the while to acquire celestial weapons,
together with the means of withdrawing them.
And he received from the hands of Sakra his favourite weapon of
irresistible force, viz., the thunder-bolt and those other weapons
also, of tremendous roar, viz., the lightnings of heaven, whose
flashes are inferable from the appearance of clouds and (the dancing
of) peacocks. And the son of Pandu, after he had obtained those
weapons, recollected his brothers. And at the command of Indra,
however, he lived for full five years in heaven, surrounded by
every comfort and luxury.
We have to read study carefully the above paras. It is to be remembered that it was Vaisampayana, who was narrating the story. So, naturally, he narrated from his point of view only, i.e, on EARTHLY terms only.
Hence, Arjuna spent 5 years, according to EARTHLY terms, in Heaven.