Yes, you can either string together the taxon ids in the URL, or create a list of them and search with the list. See https://forum.inaturalist.org/t/how-to-use-inaturalists-search-urls-wiki/63#heading--multiple--taxa and https://forum.inaturalist.org/t/how-to-use-inaturalists-search-urls-wiki/63#heading--multiple--taxa--list.
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