The short answer is sometimes yes sometimes no. Some jailbreaking detection works by attempting things that wouldn't succeed on a non-jailbroken device and some detection works by looking for signs of specific jailbreaks. It's a real cat-and-mouse game.

unc0ver isn't one, but a "rootless" jailbreak is usually undetectable. This one hasn't been updated with iOS 13 support but was popular for iOS 12: https://pangu8.com/jailbreak/rootless-jb/

I haven't used it myself, but two very similar kernel-level jailbreak detection bypasses were just released for unc0ver 13.x, FlyJB and KernBypass: https://github.com/akusio/KernBypass-Public

A couple of my banking apps detect my jailbreak but allow me to continue after hitting "Okay". The only app I ever wanted to use that refused to let me in was the Nintendo Switch Online app. Steam works fine. If you don't play games on your phone it isn't really a big deal imo.

“Rootless” Jailbreaks also severely limit what you can do, though.

Yep, never used one myself for that reason. I saw a lot of praise for it from Pokémon Go players though :)

yep. checkra1n for iOS 13.1 requires that you re-jailbreak every time you reboot your phone. Takes like 5 minutes to do.

One of those cases where a bug really is a feature