The question is how long the lapse in coverage is.
If the lapse is 63 days or longer, then yes, a pre-existing clause CAN be triggered (the fact that it CAN does not mean it WILL - many plans do not have a pre-ex clause to begin with). The longest an employer-sponsored plan can consider a condition pre-existing is 12 months under Federal law (18 months under some very limited conditions); some states have shorter periods.
If the lapse in coverage is less than 63 days, then the new plan, assuming it is employer-sponsored, MAY NOT consider any condition to be pre-ex under Federal law. An individual plan might, but as indicated above not all plans do.