I think they might ... not like we understand bored but I have a couple panthers that leave their free rage together and go looking for trouble. They often go to the cricket and dubia bins and try to break in, other times they go harass the babies (panthers and veileds). They make a lot of noise so I always catch them and they are always adorable and clueless looking but I think they know what they are doing.
Chameleons may not have the same intelligence as mammals but I think people really underestimate them. It becomes more obvious when they are free ranged and they interact with people and other chameleons.