Yes, on all my models lighting, AO and normal map shading is baked into the diffuse.
Right here, I have as close to an approximation of in game as possible. Into this render is:
No Shadows
No Global Illumination
No Bounced Light
No Raytraced Reflections
No Displacement
What is in this render is simply this:
A diffuse texture
A shinemap
A normal map
Two omnidirectional lights (Approximating two suns in mission)
Now, this won't of course be exactly what you see, it's impossible to take a professional rendering package and use it to show what a game engine will show, but this is about as close as I can get: