Yes. It can turn "Denial of Service protection" into just "Denial of Service" from the outside Internet, even without any attacks.
In my case with ASUS RT-AC58U it made home HTTP(S) and FTP(S) servers to respond very slowly to half the requests even with a single outside client, or even not respond at all and timeout after several succesful connections. E.g. I open a page and half of the images are missing, and a click to the next page hangs for a minute.
I tried to setup various cover-up measures for years, like a file-caching reverse proxy (nginx) on my VPS, caching DNS server, even just storing home router's dynamic IP in /etc/hosts. VPS itself worked good, but connectivity to home back-end never improved until i disabled the "DoS Protection" in home router.
A daily backup using duplicity from my VPS to home PC via FTP(S), which makes a new connection for each file, might skip some diff files, take anywhere from half an hour to 10+ hours or not finish at all that day. Now it consistently takes 1.5 minutes for 4-5 folders via FTPS with "DoS Protection" disabled.
Although my other backup scripts with lftp, which use a single FTPS connection for a bunch of files at once, worked acceptably enough even with "DoS Protection" enabled.