It sure is possible, I’ve done it in several slightly different variations with a Yaesu g-5500. Unfortunately I don’t see any detailed instructions on how to do it on the satnogs wiki.
If you want the most of the rotator I suggest running rotctld with the appropriate parameters to make it available on your network, then connecting to it with satnogs-client.
In any case, the following variables are relevant from Client_Setup:
SATNOGS_ROT_MODEL
SATNOGS_ROT_PORT
And if directly connected: SATNOGS_ROT_BAUD
These are passed to rotctl so the settings are specific to hamlib.
There’s a example on how to test it here CNC_Shield_Based_Rotator_Controller
Also see relevant thread