Did a little searching and i think it's called autorcm will try it outKind of hard to understand what you mean, but if you mean "without entering RCM first" then NO, not possible. After all, it's called RCM loader for a reason.
Well, you first need to launch a payload like hekate or sxos in RCM to enable AutoRCM in first place.Did a little searching and i think it's called autorcm will try it out