Yes. The isomorphism in $mathrm{Ho}(mathcal{M})$ is represented by a morphism in $mathcal{M}$ from a cofibrant replacement for $A$ to a fibrant replacement for $B$. The "converse to the Whitehead lemma" states that a map in a model category is a weak equivalence iff its image in the homotopy category is an isomorphism. Combining this with the definition of (co)fibrant replacement, we see that $A$ and $B$ are connected by a 3-step zig-zag of weak equivalences.
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