Yes. Skyfire and I were exploring what was an uncharted planet at that time. This one. Earth.
9 seconds sound clip from The Transformers (1984) - Fire in the Sky TV Series.
You can hear this line at 00:06:37 in the DVD version of the movie.
Quote context
[...]
- His name is Skyfire. Observe his history as it was recorded before his icy imprisonment.
- Skyfire and I were both explorers from Cybertron.
- That must have been shortly before our final falling-out with the Autobots.
- Yes. Skyfire and I were exploring what was an uncharted planet at that time. This one. Earth.
- We detected no intelligent life on the surface, but Skyfire insisted we look closer.
- A polar windstorm came up suddenly and Skyfire and I were separated.
- I circled half the globe searching for him, but he was gone.
- And now, millions of Earth years later, you have found him.
[...]