Yes
You have to
refuse Peppita at Moonbase though - that means you can't take her
There is a way to get Albel on disc one Yoherz
I usually get him then if I'm taking him because he gets the Crimson Scourge scene that way and also because he's awesme w/th Peppita but I can't get Peppita first then Albel second
It's to get -
Nel first - Do nothing
Albel first - Before defeating the end of disc one boss go to Peterny Inn and choose to stay the night. During the night an event with Albel will trigger - choose "I don't hate you" Now on disc two Albel will be the one that comes to save your party at the training facility and come into space with you
Roger first - Before defeating the end of disc one boss you must have a Roger in your inventory - then trigger the event in the house across from the shop in Suferio. Roger will show up to rescue the team on disc two.