It is thought that if chess was played perfectly then it is probably a draw, but nobody knows. So if by "mistake" you mean "not exactly the best move to force a

It is thought that if chess was played perfectly then it is probably a draw, but nobody knows. So if by "mistake" you mean "not exactly the best move to force a draw from move 1 to the final move", then yes. But in chess "mistake" usually means "large inaccuracy" rather than "not the best move". I just mean games at a higher elo are usually decided by pressing a smaller advantage, rather than someone hanging a queen by mistake, so basically just avoiding massive blunders gets the most elo benefit, rather than worrying too much about tactics or opening theory.