API Rest expose

I can exposes a REST service without orchestrator API?
For example, can I start a process if I know IP:port of the robot installed on client?

Why this is on Robot.exe.config file?

   <endpoint name="RestEndpoint" address="" binding="webHttpBinding" bindingConfiguration="WebHttpBinding_IRemoteContract" contract="UiPath.Models.IUiPathRemoteContract" behaviorConfiguration="RestEndpointBehaviour" />
    <endpoint address="" binding="mexHttpBinding" contract="IMetadataExchange" />
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I have the same doubt if we can expose to REST API without using orchestrator.

If so could anyone of you please suggest a workaround for the same.

Appreciate your massive help.

Thank you.