Yes, that's normal. I'm always using 7-8gb of ram out of 12gb
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RAM is a funny resource. RAM is fast and you want your applications using it as much as possible so that they are fast. Therefore you want to have lots of RAM and you want to use it. Have a low amount of free RAM is bad only if an app needs more of it. Generally as long as you have 20% or more free, you are OK.
Samsung provides a very good utility to allow you to check your RAM usage. In Samsung's Galaxy Store you will find the Good Guardians app. In that tool is a plugin called Memory Guardian. If you open Memory Guardian, click on History near the bottom middle, you will see a chart of your RAM usage over time.
