Physically the answer is 'yes'. I have a gen 3 system with a roam package we use for camping. It is easy to set up. Just put the antenna where it has a decent view of the sky and run the cable to it from the RV. The good thing about the gen 3 vs the mini system is that the router is in the RV with you, not originating out in the antenna, so the wifi is better. Yes, you can get a remote router for the mini and put that in the RV, but then you have two cables running to the mini. The system just needs a decently clear view of the sky - slightly north facing in the US - but it is fairly tolerant of moderate obstructions these days because of the large quantity of satellites in orbit now.
Practically, using a residential subscription (with any hardware) is 'challenging'. A residential subscription is tied to a single GPS location. You can go into your account and change your account address each time you move, but 1) that's kind of a pain, especially if you are on the move regularly; and 2) you run the risk of running into a 'at capacity' cell (geographic location defined by Starlink) that either doesn't allow you to join for service or will want to charge you a significant 'congestion' charge to join there. So, it *can* be done and some people find it works OK for them but just beware it may have pitfalls that will cause you pain.
In my mind, for $50/mo with the ability to turn it on and off as needed so I only pay for the months I'm using the RV I don't find a reason to try to make due with just a single subscription so I have a roam plan too. Also because my residential antenna is on the roof so I'd have to go up there to remove and replace it when camping AND because at that point my home would have zero Internet service, making my security & monitoring system unusable.