Does this poem have figurative language in it?

Yes, figurative language is just any that isn't literal. I'll suggest a few basic examples. So the first line, 'We are closest when we are apart' - it's playing on the double meaning of 'closest', in that it can mean physically close and emotionally close. Then in the line 'A wedge forever standing' a metaphor is used, because fear is not a literal wedge, but a figurative one, driving them apart emotionally not physically. 'Stifling, frowing / Disallowing world' is also figurative because the world is personified - the world isn't conscious and doesn't have a face, so it can't actually stifle, frown or disallow. The figures of speech are employed to suggest how the speaker feels, not the factual reality.