Short answer is yes.
There are many longer answers.
Books I would guess have been written about it.
Most Efficient is probably a sloop but there are many factors that make a sailboat efficient - fast.
There are many other pieces to the puzzle. I have a ketch and like it. I am not a racer and, among other things, like the esthetics and the ability to substantially reef by dropping the main. Many of these
rigs were developed and produced depending on some racing rules and or local conditions. And don''t forget square
rigs which work real well going downwind.
Todd V