How to get jobs from all folders using Orchestrator HTTP request activity?

if I make direct API calls(without Orchestrator HTTP request activity) and mention foldername in headers, will it return me data from other folders?

Yes, you would be able to make it. The reason is that you would be using a direct authentication (user/password or OAuth) rather than relying on the Robot token (which is what the Orchestrator HTTP request uses)
Unfortunately this means you will need to handle the auth mechanism yourself.

Can I use OAuth for UiPath orchestrator version 2019.10.16?

No, OAuth was implemented in 21.4
In 19.10 you only have /api/Account/Authenticate

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