In most cases, yes. Eagle Transmission rear derailleurs are designed to have replaceable points of frequent contact: the skid plate, the outer parallelogram link, as well as the cage and damper assembly. Talk to your local SRAM dealer to purchase SRAM Eagle Transmission replacement parts. You can also reach out to SRAM Rider Support if you have questions about replacement part compatibility. Most parts are interchangeable between models!
Detailed information on the replacement process for these parts can be found in the Eagle AXS Transmission manual.