Was the ritual Naivedya (नैवेद्य) mentioned in the Vedas?

Naivedya (नैवेद्य, “cooked food”):—One of the five preliminary oblations (upacāra) to be offered during the worship. It must have evolved from निवेदिन् - offering.

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The 16 types of services or upachAras are Puranic.

The sixteen types of service are

“āsanaṃ svāgataṃ pādyamarghyamācamanīyakam | madhuparkācamanasnānaṃ vasanābharaṇāni ca | gandhapuṣpe dhūpadīpau naivedyaṃ vandanaṃ tathā”

invocation (Āvāhana); offering the seat (Āsana); water offering (Arghya); washing of the feet (Pādya); water for rinsing the mouth as a mystical rite (Ācamana); oil bath (Abhyaṅga snāna); offering of cloth (Vastra); Scents (Gandha); flowers (Puṣpa); incense (Dhūpa); lamps (Dīpa); food offering (Nivedana); waving of lights (Nīrājana); betel leaves (Tāmbūla); obeisance (Namaskāra); and mystical discharge and conclusion (Visarjana).

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In Rig Veda humans used to offer to Gods through Yagnas. Now, Yagna can be mind related dhyAna or meditation in esoteric sense or physical Yagna as described in Yajur Veda.

Rig Veda II.1.13 says as follows:

तवामग्न आदित्यास आस्यं तवां जिह्वां शुचयश्चक्रिरेकवे | तवां रातिषाचो अध्वरेषु सश्चिरे तवे देवा हविरदन्त्याहुतम ||

You, Agni, did theĀdityas make their mouth; you did the pure ones make their tongue, o poet. You do the Gift-Escorts escort in the ceremonies; in you do the gods eat the poured oblation.

1. If we view this Yagna as mind related dhyAna, then we will be offering our mind for getting SELF REALISATION.

2. If we view this Yagna as Physical, then Ghee should be regarded as the material used in oblation here.

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Rig Veda mentions about a few services or upachAras, but all 16 services or upachAras may not be seen therein.

Rig veda V.5.8-9 say as follows:

8. Iḍā, Sarasvatī, and Mahī, the three goddesses who are joy itself— let them, unfailing, sit upon the ritual grass.

9. Tvaṣṭar, come here as the kind one, far-ranging in the prosperity (you bring), and in your own person help us at every sacrifice.

If we view them as physical, then Yes, āsanaṃ (offering the seat), svāgataṃ (invocation) were mentioned in the Rig Veda, apart from Nivedana( oblation) .

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In Sandhyavandana, water oblation is accepted and this was followed by Sri Rama in Ramayana.

 तस्यर्षेः परमोदारं वचः श्रुत्वा नरोत्तमौ | स्नात्वा कृतोदकौ वीरौ जेपतुः परमं जपम् || १-२३-३

On hearing the benign words of the sage those valorous and best ones among men got up, bathed, and on offering water oblation they meditated upon the supreme hymn.