Yah; when distressed people recieve close attention from an empathetic, skilled caregiver, they unsurprisingly feel better. And when people feel less stressed, their muscles relax, their heartbeat smooths out, their digestion improves, their immune function picks up, etc. etc.
Healing requires energy; your body will send as much as it can spare, but if it’s locked in fight/flight/hide mode that won’t be enough. Getting your mind chilled and happy lets your body concentrate on fixing the problem.
There are plenty of things that the body can’t fix on its own; pharmacology and surgery are also vital tools. But it never hurts to get the innate healing abilities helping things along.