Not natively. I do this on occasion using a reverse proxy setup, but you have to be careful to avoid conflicts with any existing pages like /about, /contact, etc.
It won’t negatively impact SEO as long as you;
Update all canonicals and alt lang links ( for localized sites )
Update your sitemap accordingly
Redirect your native CMS paths to your new paths, to maintain current SEO and nav / backlink functionality
If you want to go that route, you can contact me here-