Yes, every prophet had a successor who leads his Ummah after the Prophet and all of them are infallible. The Hadeeth لكل نبي وصي is narrated in Shia and Sunni books. Among Sunni scholars who narrated this Hadeeth are Ibn Hanbal in Fadha'l al-Sahabah, Sibt Ibn al-Jawzi in Tathkirat al-Khawaass, Ibn al-Maghaazili in al-Manaaqib, al-Tabaraani in al-Mo'jam al-Kabeer and Ibn Asaakir in Tareekh Dimishq and many others.
Wassalam.