Yes, but you should make few changes to your drawer-type cart element.
Make sure your drawer-type cart is not directing customers directly to checkout. It's important to remember that all customers need to select a shipping method in the Parcely shipping selection widget and that widget is displayed on the cart page.
Some stores which are using parcely app that doesn't want to disable the drawer-type cart element have just changed the checkout button in a drawer to the cart button.
Typically you can switch between different cart types in your theme customizer. Here is an example of how to do it in the 
Brooklyn theme.
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