Were the Eldar ever aware of humanity pre-fall?

I decided to go back and watch Bricky’s video on a crash course of the 40k timeline, when I got to thinking

The Eldar once ruled the whole galaxy and humanity also brought itself up to the stars as well while the Eldar were still around and kicking.

So were the Eldar ever aware of humanity? And if so did they care or have plans involving humanity and its colonies?