No, he didn't; he supported the idea of getting rid of Jews from Germany. Full stop. Such as the Madagascar Plan.
https://en.wikipedia.org/wiki/Madagascar_Plan
The idea that he was somehow fully on board with the Zionists and 'sound' with Jews before WW2 is utterly bonkers given he calls for the extermination of them in
Mein Kampf in the 20s.
Hitler did not support Zionism or the idea of Zionism in any way, meaning Livingstone was 100% totally wrong in his interpretation of the Haavara Agreement. The Agreement was a means to end - get rid of the Jews; solve the 'Jewish Question'.
Anyone with a shred of knowledge about Nazi Germany knew Livingstone was wrong. He should have apologised. He didn't. You don't have a valid opinion here - you are quite simply totally wrong.