In general, the answer is no. We don't recommend using a drawer-type cart, because the Parcely shipping selection widget does not fit into a drawer and you might face some user interface problems in the future.
But you could hide or replace the Checkout button from the Drawer-cart and direct customers from Drawer to the Page cart. With this solution, your customer would still see a product added to a nice drawer but would pass by the page cart page to select the shipping location.
In most of the themes, you would need your Shopify developer's help to change the "Checkout" button to the "View Cart" button. This button would need some theme code changes in order for it to direct customers to the Page cart view.
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