Yes, see the table for air.
Table - Density of air ρ vs. temperature °C Effect of temperature °C ..... ρ in kg/m3 −10 ..... 1.342 .− 5 ..... 1.317 ....0 ..... 1.292 .+ 5 ..... 1.269 +10...
This depends upon the circumstances. For example, if a gas is heated inside a sealed container, the density remains the same (the gas cannot expand inside a sealed container) but the pressure...