You can use the closest() method of Element that traverses parents (heading toward the document root) of the Element until it finds a node that matches the provided selectorString. Will return itself or the matching ancestor. If no such element exists, it returns null.
You can convert the returned value into boolean
const el = document.getElementById('div-03');
const r1 = el.closest("#div-02");
console.log(Boolean(r1));
// returns the element with the id=div-02
const r2 = el.closest("#div-not-exists");
console.log(Boolean(r2));<article>
<div id="div-01">Here is div-01
<div id="div-02">Here is div-02
<div id="div-03">Here is div-03</div>
</div>
</div>
</article>