The honest answer is: not as a blanket rule. Coverage depends on the exact AARP UnitedHealthcare plan, the benefit design for that year, and whether the service is treated as a covered therapy benefit, an excluded wellness service, or something only available through a specific supplemental program.
AARP Medicare plans insured by UnitedHealthcare are not all identical. Benefits vary by plan type, county, employer or retiree arrangement, and plan year. That means a massage-related service can be covered in one product and absent in another.
If you are about to book care or pay out of pocket, do not rely on a general article. Coverage questions should be checked against the exact plan document and current member services response for that plan.
UnitedHealthcare publishes plan documents and member material, and those documents are the real reference. If the benefit is important to you, check the Summary of Benefits and the Evidence of Coverage for the plan you actually hold, then confirm by phone if the wording is unclear.
These are the most common questions around massage therapy and AARP UHC plans.
It may be in some circumstances or products, but there is no safe blanket answer across all AARP UnitedHealthcare plans.
Your current plan's Summary of Benefits, Evidence of Coverage, and the answer from member services for the exact service you want.