Yes, grand jury testimony IS released to the public -- at least it is when it comes to Clinton.
"Following is the text of Monica Lewinsky's testimony before independent
counsel Kenneth Starr's grand jury on August 6 and August 20. The
transcripts were among the 3,183 pages of appendices to Starr's report
released on Sept. 21 by the House Judiciary Committee."
https://www.washingtonpost.com/wp-srv/politics/special/clinton/stories/mltestimony.htm
