Of course, it is! I've lived debt-free for many years. It does mean waiting for luxuries rather than borrowing money for them.
It's not always about luxuries. A colleague of mine had to take out a car loan when her car became uneconomical to repair. She was an essential car user, so had to have a car to do her job (no company cars in the 3rd sector lol).
Then her landlord wanted to sell her flat and issued her with a notice to quit. Her rent hadn't gone up for a good while, but rents generally had risen a lot, so her new place was a lot more expensive, plus she had to take out a loan for fees, deposit and rent in advance.
Although she got her deposit on the old place back, she couldn't use it to pay down either of the loans, they were fixed term things and there were penalties for early repayment. The loan repayments were crippling her and she ended up using food banks some months.
When her manager heard about her difficulties, she raised it with a senior manager and the organisation has amended its season ticket loan scheme so that essential car users can borrow up to £2k, interest free, to buy a car.
These are the realities for people on low incomes in areas with high housing costs, I'm afraid. And austerity, as our projects are funded by local government, so we've only had 3 tiny pay rises in 12 years.