Easily. The command is CREATE3DMODEL. Attached is the original documentation and the blocks you need on this but I don't know if the documentation has been updated. Basically, create your 3D part (or download from manufacturer), insert the Conndef block at each connection point. Width = size (diameter if pipe), depth = duct depth or 0 if round, type = round, rectangular, or oval.

The Snap point block is to place anywhere you want to be able to have and ENDPOINT OSNAP after it's converted.