Yes, if you have a Professional or Enterprise subscription with device access.
You can divide responsibility for remote computers with VNC Connect installed among the people in your team by assigning discovery permissions on the Computers page of your RealVNC account.
You can assign discovery permissions to individual computers. If you have many computers and people in your team, it might be easier to create groups of people on the People page and use them to assign discovery permissions to groups of computers on the Computers page.
There’s no way to bypass our discovery service. If a team member does not have permission to discover a particular computer, they cannot possibly establish a cloud connection to it.