Dishonest Joe fears so.
But can we?
Build a healthy democracy? That's an imposed goal that regrettably is not possible given the natives' cultures. So while defeat may be regrettable, victory is impossible.
Bases? Control of the nation's oil? It's happening. And to the extent they haven't, they're on track and pretty much inevitable.
Fighting terrorism? Well, the terrorism we care about isn't in Iraq. Getting out and enabling the Iraqis to control their nation is at least as good a solution as policing it for them. Meanwhile, we're also empowering Iran staying there. That can't be good for us.
So why stay? Somewhat contrary to Colin Powell, yes, we screwed up Iraq but we can't fix it to what it was. What could be accomplished pretty much has been so let's start getting out now.