Yes. P2PE v2 introduced merchant-managed solutions. Please see the Frequently Asked Questions (FAQ) for Validation Processes for Merchant-Managed Solutions on the PCI SSC website.
Article Number 1164
How do PCI PTS-approved HSM expiry dates affect a PCI-listed P2PE Solution or Component?
What effect does the use of a PCI-listed P2PE solution have on a merchant’s PCI DSS validation?
Who can use SAQ P2PE?
How do PCI PTS-approved POI device expiry dates affect a PCI-listed P2PE solution?
Does PCI DSS, PA-DSS, or PTS apply to ATMs?