Yes. Swami Paramarthananda’s transcripts include this mantra. Check the publications.
When people search for they are almost exclusively looking for the legendary Hindi novel written by Acharya Chatursen Shastri, published in the mid-20th century. vayam rakshamah in english pdf
Many social organizations and volunteer protection groups (like Gau Raksha or Van Raksha teams) chant this before operations. vayam rakshamah in english pdf
The novel is celebrated for its deep philosophical and anthropological insights into ancient Indian civilization. vayam rakshamah in english pdf
Vayam Rakshamah – The Mantra of Collective Protection Source: Taittiriya Samhita of Krishna Yajurveda (4.2.8) – adapted