Do undissolved salts in saturated solvents enter equilibrium with the dissolved salts?
Yes, they enter into a constant equilibrium. Just as we write equilibrium expressions for insoluble salts as equilibrium expressions, like $\ce{CaF2} \leftrightharpoons \ce{Ca}^{2+} + \ce{2F-}$, when you reach the saturation point, solute particles are in dynamic equilibrium between aqueous and solid phase.