Nobody has ever given an intelligent answer to what is intelligent life, but to simplify, yes, life itself could develop on a rogue planet. It might be a microbe or something greater, but we know here on Earth, deep below in the oceans where no sunlight reaches, there are forms of life that live and thrive due to the heat of volcanic tubes erupting.
Life needs energy. It doesn’t always have to get that energy from the sun. There must, however, at least be some heat.