Considering the Polynesians got to Hawaii and Easter Island, it seem likely some boatfull of intrepid navigators must have reached the mainland Americas.
But nothing came of it. No long-term consequences evolved.
We know for a fact that the medieval Vikings reached North America. But those contacts withered without memory. Mere centuries later, the Spaniards made a separate connection and set off the Columbian Exchange, which reshaped human society worldwide.
This doesn’t mean it isn’t worth remembering those few unusual contacts. The stories, if we had them, are probably extraordinary adventures.
But they are lost to us. Most history is.