Yes!
Ensure you have a complete backup and data dump of your MariaDB databases. Run mariabackup and mysqldump.
Stop your database and run the upgrade tool which will check table compatibility. You might find it easier to start again from your dump file(s). In which case, install a fresh version of MariaDB, create your database from the mysql command line tool. Then build the database and populate the tables from your dumpfile with source your_dumpfile.sql
This assumes you are using temporal tables as the history data is not exported to the dump file and will be lost using this method.
Be aware of changes between the versions, especially to the default settings of some system variables. This has caught me out more than once! You can find more information in the MariaDB documentation