More or less. The Zeta uses tech from both the Mk. II (particularly the movable frame) and the Rick Diaz (particularly the Gundarium γ alloy).
As for the Stardust/Zeta connection...yes and no. Cima's double cross didn't directly form the Titans as much as it did help pretty much wipe Zeon off the map, which actually helped set up the folks on Axis, but that's a story for another time. Given her involvement with Operation Stardust and how that was pretty much the "oh ****, we need dudes to look for other Zeon supporters" moment that prompted the creation of the Titans, then indirectly she did.