Yes. I got a mission to salvage 7 occupied escape pods on a planet a few days ago. Though I don't recall if it was stated as a "rescue" mission or just a salvage mission. It would be nice to be able to "rescue" all those escape pods I find in my travels.
Wish they would implement something like this: Grab Occupied Escape Pod (illegal), go to cargo manifest, select jetison/jetison(abandon) but it shows a new option "free occupant". Tada, instant rep with whatever faction the game decides occupant was with, bonus if the player docks at a station owned by that faction.
Maybe it'll happen in the 2.2 update.