A resounding yes from me! Yes yes and thrice yes!
I was adopted when I was 5 and my step-mother was the most cold-hearted, twisted, bitter hatchet faced bitch you are ever likely to encounter. She hated her husband and her 3 adopted kids with every fibre of her being and communicated that fact to us on an hourly basis with a variety of tools ranging from leather belts to rolling pins to wooden spoons if we were lucky. All garnished with endless poetry about how useless we all were and if it wasn't for the child support money she'd have sold us to the tinkers years ago..
Would have killed for two of my step-father growing up. They broke the mould when they made that man and to this day he's still my best friend.
So, I would wager that all children really need is to be in a loving, healthy and stable relationship. That's where they learn the lessons of correct behaviour and how people are supposed to be treated..