I'm gonna guess that that was a promotional poster for the four-issue TF/GIJOE series from back in the day, seems to match the style. And, you know, it has the Marvel stamp on it =P
Interesting. The Marvel logo used on that poster is from the 90s, while the original Joe/TF crossover is from 1986, and that crossover is the one that poster is clearly referencing, as opposed to the Joe/G2 story. As far as I know, that art wasn't used for a cover.
That's the cover art for the trade paperback of the 4 issue mini-series. So to answer your question, yes.