Yes. If you need a remote connection from other ESP32 board (Adafruit Feather), look at tutorial - Arduino remote interface - Totem Documentation
It uses Arduino Library to scan for Totem robots and connect them. Supported on all ESP32 boards (BLE capable).
Keep in mind to enable “App control” on X4.
You can also send custom function from Feather to X4:
On X4 side implement this - X4.function - Totem Documentation
On Feather side call: module.write("functionA", 555);
Example how to implement robot control from “functions”: 4WD Chassis - #3 by Arnas
Note: You don’t need “Totem Library” on X4 side. This is only for Feather side.
For X4 use “Totem Boards” core.
For Feather use official Espressif core: GitHub - espressif/arduino-esp32: Arduino core for the ESP32