Yes, artificial sweeteners are literally the most studied food in human history. There are a lot of different chemicals involved so I won’t make any sweeping statements, but all of the most popular ones have been proven over and over to be harmless.

But then things get complicated because the sugar lobby will fund a rat study where they inject an absolutely insane amount of sweeteners into their blood and it obviously fucks them up. Then they publish a study about how the sweeteners cause all kinds of ailments. But when you actually look into it (nobody does) you realize they injected the equivalent of drinking 100 Liters of soda per day, which obviously nobody does.