If this wasn’t an appearance by Cad Bane or any other Clone Wars (or Star Wars Rebels) character, that doesn’t mean the future doesn’t hold nods to the animated series, especially if Dave Filoni continues to contribute.
Because the beauty of The Mandalorian Season 1 so far has been that we haven’t been able to rule much out, and speculation has been a joy.
Who could know more about how to incorporate animated characters into live-action than Filoni?
Basically all we’ve been able to say for sure before each episode is that Baby Yoda will be adorable and Mando will keep his helmet on.