Yup, you certainly can. At bare minimum, just require the plugin’s main file inside your plugin file. You’ll just need to activate YOUR plugin, but you’ll still have function from the included plugin.
require_once '/otherplugin/main-file.php';
If you want to make it more sophisticated, you could set up a composer.json file in your plugin, which could then be run to automatically download specific versions as a dependency.
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