Yeah! There are a lot of good videos on it (I learned about it from tiktok) - but really there are just a few basic stitches - https://stitchedstories.com/12-essential-embroidery-stitches/

For patching stuff, I’ll usually use a piece of scrap cloth on the inside to help hold things together, and secure that with a straight stitch or a back stitch. Then it’s basically like drawing but with embroidery thread (or any thread you’d like!) and the things you “draw” hold the patch in place and cover the hole