No. They have gone into a different, branching timeline. There is no reason to believe that Stark would remember this event unless he (or the audience) also know that this event also unfolded in exactly the same way in Stark's past (like if it was shown in a previous movie).
Bruce Banner: Changing the past doesn't change the future.
Scott Lang: Look, we go back, we get the stones before Thanos gets
them. Thanos doesn't have the stones. Problem solved.
Nebula: That's not how it works.
Bruce Banner: If you travel to
the past, that past becomes your future and your former present
becomes the past which can't now be changed by your new future.
Scott Lang: So Back to the Future is a bunch of bullsh-t?
As explained by Banner, and as remarked upon by Lang, their actions when they went back to the past (new future) didn't and won't affect their former present (past), so none of them would've "remembered" what happened because those events didn't happen or didn't happen in the exact same way as their past.
We don't know if the Hulk arrived on the ground floor in the same manner and at exactly the same time as the original timeline. We don't know if he even went down the stairs at all because the events shown in Endgame are already after they've arrived in the past (timeline has already branched).
Thor "remembered" that his mother would die on that day they came back to in the past because this event was shown in Thor: The Dark World. The events: Hulk busting out of the stairwell, past Stark and Thor arguing with Alexander Pierce, among other events, were only shown in Endgame, and not in a previous movie. I've re-watched The Avengers (2012) to verify and those events were not shown in that movie.