No. there were no external forces attacking Jabba on the barge (on Imperial speeder bikes or otherwise) - only the Luke/Leia/Han/Lando/Chewie group that Jabba brought with him on the skiffs.
The first time the speeder bike appears in trhe ROTJ script, as you noted, was on the Moon of Endor:
The second scout jumps on his speeder bike and takes off, but
Chewie gets off a shot on his crossbow laser weapon, causing the
scout to crash into a tree. Han and Scout #1 are in a rousing
An extra confirmation is from an interview with Kit West, who was responsible for the mechanical effects in ROTJ:
Q: You were the mechanical supervisor for Return of the Jedi. What was your exact task and how did your days look?
After completing all the location reccees in Arizona and the Redwood Forest in California, I returned to my base at Elstree Studios in England and signed on most of my crew from Raiders of the Lost Ark. We prepared all the mechanical, atmospheric and pyrotechnic effects that were to be filmed on the sound stages in Elstree Studios, then concentrated on all the major mechanical rigs required in the States.
We built all the speeder bikes and their travelling and gimble mechanisms for shooting on location in the Redwoods, and the bluescreen shooting at ILM Studios in San Rafael.
Also built in the UK was the hover skiff which floated over the Sarlacc Pit, next to Jabba's Sail Barge in the deserts of Yuma. This also included all the gimble support mechanism controlled by hydraulics.
Another confirmation is here (by Howard Kazanjian, ROTJ producer):
The amazing speeder bike sequence would be created at ILM; the bikes were built nearby. A new handheld VistaVision camera would be designed and built to shoot the plates in Crescent City, California, the redwood forest.