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 POI device expiry dates affect a PCI-listed P2PE solution?
What effect does the use of a PCI-listed P2PE solution have on a merchant’s PCI DSS validation?
Who can use SAQ P2PE?
Are POI devices with only the PTS-approved firmware (i.e., no additional software) eligible for use in a PCI P2PE solution?
How does Triple DEA (TDEA) impact ASV Scan results?