I think he should but i'm not sure.
he`ll be able to soon, though it won`t be as strong as luffy`s
This is Zoro's experience at the conclusion of the fight with Mr.1:
This is Gan Fall's explanation of Mantra: http://www.onemanga.com/One_Piece/257/07/ (which I believe is just an application of Haki as you can see here: http://www.onemanga.com/One_Piece/519/10/)
If you tie the two together it looks like Zoro probably has an unconcious knowledge of Haki. He can "hear" the sounds of Mr. 1's body much like Gan Fall's description.
Well, if that would be the case, this ability would be like the Mantra and therefore Haki.
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And of course as some of you already said - Zoro doesn't have haki of Luffy's caliber, but I'm pretty sure that his haki will be powerful too.
well, the way I see it, Zoro could probably possess the same type of Haki as Rayleigh. No one says that Rayleigh possesses the King's Disposition, maybe he has some dark or evil haki, that makes him the Dark King.
What about these?
Also there is another early scene where Zoro and Luffy scares/almost knocks out a group of people together. I have to study, so i cannot be bothered to look for it, and i know someone here will. After all, rereading the whole of One Piece is definitely enjoyable.