I don’t know for sure but watching him I don’t think so. It also looked like the teleprompters on the stage would have been too low for him to use them, like they were set up for a shorter person.
If he was using them, it was for reference. He wasn’t reading from them directly, so it appeared to me. It looked like he was speaking from the hip, but could tell it was prepared. He had plenty of time to prepare for it.