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It's impossible to know anything for certain but there are texts of the rig veda written actual millenia ago still in existence. As far as Atlantis, almost all ancient civilizations have a story about coming from somewhere else, a paradise that was swallowed by the sea. This Atlantis is, I believe, a legend ism of the flooding of the Mediterranean basin.

I think our ancestors developed and evolved in the Mediterranean basin when it was land plugged at Gibraltar. This would've been a perfect refugium for life and civilization to flourish in. Wheb the Gibraltar plug broke and flooded the basin it would've destroyed everything except those few left on the outskirts - who were probably fairly outcast anyway - as a survivor culture in small isolated pockets. Thus would've developed over eons into what we begin to see in closer prehistory. Noah's flood etc comes from this cataclysm.

 Atlantis abd friends also could be a story of closer in time origin around the end of the last glacial maximum. When the ice was strong and the waters were low, the coasts were different. Man ALWAYS lives on the coast. The water is trade food and transportation. Water is life. Those waters start to rise and those civilizations are gone buried under the ocean, leaving only stories and memories. It's probably a mixture of both.

So is it possible? Yes.