Yes. That’s normal. As jchamier had pointed out, the ARP table is effectively an instant (not quite) snapshot of what the particular network router (or switch) has mapped between the MAC address and IP address. Hence the description of it being a “cache” - temporal in nature.
On the other hand DHCP table is a record of active “leases” and these are active for the life time of the lease; which could be in the minutes, hours, days or longer! Even if the device has now disconnected or powered off from the network in question it’s lease will still be evident in such a table held by the DHCP server until the lease expires (or is otherwise cleared).
An ARP cache will also show devices that have not necessarily been assigned an IP address by DHCP - could be manually assigned - and may include devices that are indirectly connected via intermediate hubs or switches. It’s what the router or switch can ‘see’ on the broadcast domain of the device.
Note also the same device if connected by say WiFi and LAN cable will have a listing in the respective table for each respective interface/MAC address. In the case of a laptop for example both interfaces could be simultaneously active.
Edited by Pheasant (Sun 06-Jun-21 14:24:47)