No they can't. They obviously know the IP addresses, but that's not terribly useful since everything is behind a cloudflare proxy nowadays. The server hostname may provide some more information, if the server doesn't support ECH [1], but the full URL is encrypted.
If you use HTTPS they can see that you hit wikipedia (they will see you are trying to do a DNS lookup for en.wikipedia.org), but they can't see that you are viewing https://en.wikipedia.org/wiki/Hundeprutterutchebane in particular- that is only available to someone who can read the body of the HTTP request, which with HTTPS is encrypted.
https://en.wikipedia.org/wiki/Server_Name_Indication#Encrypt...