POSIX has no realpath(1), so no.
Will be added in the upcoming revision: https://www.austingroupbugs.net/view.php?id=1457
20 years ago it was a "BSD thing", but it seems to be more wide-spread these days; even my Alpine busybox system has it. I'm sure there are some platforms without it, but there are also platforms without some POSIX tools – it's never a guarantee.