Yes- limited company contractors who work at a series of temporary workplaces can claim business mileage (and associated subsistence costs) for travel from home to the client workplace.
To be clear, the key rule is that a ‘temporary workplace’ can only be so regarded if the period of work there does not last or is not expected to last for more than 24 months.
If the period of work is expected to last more than 24 months, then it is considered to be a ‘permanent workplace’- and no travel expenses are allowable for commuting costs to a permanent workplace.