Yes, and they will as soon as they get their courage up.
I would start the integration at 4 weeks. Once all the hens have left the coop, close the pop door to keep them out then open the chick doors to let them out of the brooder to explore the coop for about an hour. During this time, keep herding them back to the doors so they know how to get back into the brooder to avoid you. After an hour, open the coop door and permit the adults to come back in. Stay and observe the initial interactions to make sure none of the adults show aberrant behavior and really go after the chicks. If the chicks are managing themselves well, you can leave them out. If you are nervous, herd them back in and close the doors and have progressively longer sessions daily.
It usually takes some time for them to build their confidence to leave the coop. When they do, they will instinctively want to stay close to structure for protection. As their confidence grows, they will wander further away. They like to stay on the outskirts of the adult flock to observe and be near them without actually interacting with them.