In short: Yes, you can.
However, according to the Pimcore documentation, there is no standard REST API. However, there are two other ways to connect anyway.
1. Custom REST API
Pimcore offers the possibility to model Custom REST APIs. In case applications do not have an API out-of-the-box or the system infrastructure is only accessible via an API gateway, we have created a sample documentation of an optimal API for the HubEngine. Such a modeled API would require the least effort to develop a new adapter.
2. Data Hub
A connection is also possible with the Data Hub from Pimcore. An adapter can also be developed for this.