Yep. The XCV Enterprise was the first collaborative human-crewed warp ship. According to the fluff text, the ring-type warp drive has next to no maneuverability, so you have to plot the whole journey correctly before you even enter warp.
The Vulcans never saw any problem with this, preferring to plot their journeys for months if need be, but humans like their course corrections, so they redesigned it into the twinaxial configuration seen on the NX-1. Vulcans kept on using the ring version for their ships.