Yes. It seems that Trump's team knows Congress will be unlikely to let the U.S. exit NAFTA because Congress members are getting a lot of pressure from constituents about the negative effects exiting NAFTA would bring.
The Trump plan looks to be to keep heaping on more, and more, ridiculous demands in the hope Canada and Mexico will pull the plug. Then there would be no reason for the U.S. Congress to agree to exit NAFTA.