Yes and no. I don't think it was in Russia short-term interest to invade Ukraine. Long term Russia has stated for at least 15 years that they will not accept Ukraine in NATO. They see a militarily western aligned Ukraine as an existential threat.

Whether you or I believe that is irrelevant. Russia does and has been consistent on the point of NATO expansion for 30+ years.

As I see it, Russia felt if they waited any longer, the Donbass would be wiped out, NATO would consolidate in Ukraine, and eventually Russia would be boxed in, then attacked and broken up. The fact that VERY many high-level US diplomats and military people openly state that this is their goal makes Russia's fear easy to understand.

There was no good solution for Russia. Invading Ukraine in 2022 was the least bad. Still a horrible act, but from Russia's point of view a rational decision.