Yes, I think you can. It’s worth testing it in a lab.
You can insert a Check Point bridge between two Layer 3 devices (like an edge firewall and a router).
The bridge acts as a "transparent wire." The edge firewall and the router stay in the same IP subnet and talk to each other directly.
You get security inspection, without having to change any IP addresses or routing tables on your existing equipment.
Both L3 devices must be on the same broadcast domain (same subnet) so they can "see" each other via ARP through the bridge.