Yes, it’s possible. See one example down below.
Basically you have two choices which are not specifically related to Mikrotik:
- Use routing for the internal network and bypass the firewall.
- Use NAT to hide or consolidate certain internal services that basically will require:
- a) “hairpin” NAT when used on the same local subnet.
b) “regular” NAT when used between different subnets.
IMO, in general I’m considering hairpin NAT to be messy, error-prone and insecure (if security matter, that is). 
. NAT is NAT, and when used all traffic must pass through the router regardless of type. Personally I’d divide the network to different subnets. Then it’s possible to NAT all internal networks the same way as you would access it from the internet. This also means you only need a single set of NAT rules. (e.g. General NAT access between local networks…)