Absolutely, although the contracted forms are more common in standard Irish.
how is this also feiceann muid? is this not 2nd group verb? hence feici(fada)onn muid
Feic is one of the irregular verbs, so it’s not in either of the regular verb conjugation groups.
how do you chose whether to use either feicimid or feiceann muid? Is there a grammar or 'context rule' governing the choice?