In theory, the garbage collector will find all unused objects. There could, of course, be bugs in the garbage collector…
That said, "In theory there is no difference between theory and practice, in practice, there is." Under some, mostly older, garbage collectors, if an object definition manages to reach the permanent generation, then it will no longer be garbage collected under any circumstances. This only applied to Class definitions that were loaded, not to regular objects that were granted tenured status.
Correspondingly, if you have a static reference to an object, that takes up space in the "regular" object heap, this could conceivably cause problems, since you only need to hold a reference to the class definition from your class definition, and that static data cannot be garbage collected, even if you don't actually refer to any instances of the class itself.
In practice though, this is a very unlikely event, and you shouldn't need to worry about it. If you are super concerned about performance, then creating lots of "long-lived" objects, that is, those that escape "escape-analysis", will create extra work for the garbage collector. For 99.99% of coders this is a total non-issue though.