Not yet, but it might come at some point, since chess.com is, I believe, working on, among many other things, a feature that allows players to start games from any position they wish.
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I want to offer a friend to play an unrated game in a certain position in the endgame (such as a rook endgame or anything you can imagine) for a discussion. How do I create a game like that? Normally the default starting positions provided are concerning openings. Is there a custom option to set up the board yourself?