I would assume so. Even on older cars, service techs can typically manually push firmware updates over the OBD-II / J2534 port. Rivian's OBD-II port actually hides an Ethernet signal inside of it - so the interface is certainly there.
Fun fact: You can buy an Ethernet adapter directly from Rivian here to connect to the car's internal network: https://rivianservicetools.com/Catalog/Product/TSN00535-300-...