Yeah, Kuro seemed to be able to blitz a non-serious Luffy at times and even in the end Luffy had to wait for Kuro to attack him in-order to catch him and throw him.
I'd say no. Luffy should've gotten stronger from his battles against Kuro and Krieg by the time of the Arlong Park Arc and he seemed to struggle with Arlong's speed just as much as Kuro's.