Kind of. According to quantum mechanics, the electron has a nonzero (but very very small) probability of being arbitrarily far away from the nucleus.
The “atomic radius” that is referred to in chemistry, and is generally regarded as the “size” of an atom, can refer to several different concepts. Covalent radius is just half the average covalent bond for an atom. So for example, to get hydrogen’s covalent radius, you would look at several different representative covalent compounds of hydrogen, measure their bond lengths, and average them. Similar procedures apply for measuring ionic radius, as well as other flavors of atomic radius.
As for atoms sharing electrons with one another, this is what chemists mean when they talk about covalent bonding. In these systems, each electron interacts with multiple nuclei, so it’s impossible to assign a given electron unambiguously to a single nucleus (indeed, the electrons themselves are indistinguishable, by the Pauli principle). This happens in all polyatomic systems regardless of the nature of the nuclei (that is, even ionic compounds like NaCl will show some small degree of covalency), but we usually only assign the moniker “covalent bond” to situations where this electron sharing effect is particularly strong.
(NB—there are ways to make this language more precise, but I’m not sure if it goes beyond an I level thread, and I’m trying to gear it toward what I ascertain to be your level of expertise.)