Yes, but unless it is a personal "we" (as in me, my wife and the kids) you don't use the plural.
On est allés en vacances. -- We went on vacation.
On est allé à la lune. -- We went to the moon (we=humanity. )
-- Chis (not a native speaker).
no matter, Almut. The impersonal "on" will always take the participle in singular to distinguish it from the more personal "on" meaning "we".
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