Yes, though it’s usually better to expose them. See also the question Can I manually expose existing beans from another module.
There are two ways to manually retrieve non-exposed components from other modules:
@RefreshableCollectionhas an attribute to specify whether the collection should contain all beans of that type, regardless of the fact if they are exposed or not.
AcrossContextBeanRegistrycomponent allows you to access any module
ApplicationContext, and to interact with their components.