Possible, but keep a cautious eye. It might be okay, but never let your guard down as nastiness can suddenly leak out.
I'm NC with my PIL after years of unpleasant and unkind behaviour, but allowed DH to take our DDs to see them as long as none of their nastiness appeared towards them, and they never bad mouthed me in front of them.
I also didn't bad mouth them in front of DDs, but I did teach them that unkindness is unacceptable from ANYONE, including family - and should always be discussed with us. It was just part of their life lessons growing up, but I'll admit I was always setting them up in case PIL's turned.
No problems until the day DH went to the bathroom, and in that 1-2 minute opportunity MIL dressed down my 9 yo, selectively-mute, autistic DD2. By the time DH returned they were all smiles. DD2 couldn't say why she was out of sorts to him at the time. The dig was along the lines of her being rude, 'just like your mother'. Possibly as she hadn't spoken to them (she hadn't spoken at school for 18 months at this point, and was in the process of getting her first diagnosis - a speech processing disorder) though we didn't get to the bottom of what was said and why, as MIL denied saying it.
They're obviously too thick to understand what 'selective' mutism is. DD2 told me what happened the moment she got home. She's now also NC with them. I wonder if part of why they had a dig at her was that she looks a lot like me, and since I won't see them, this was the closest they could get.