Yes. I'm not aware of any documentation walking one through it though.

There is a extension api that exposes a CDP connection [1][2]

You can create a Puppeteer.Browser given a CDP connection.

You can bundle Puppeteer in a browser (we do this in Lighthouse/Chrome DevTools[3]).

These two things is probably enough to get it working, though it may be limited to the active tab.

[1] https://chromedevtools.github.io/devtools-protocol/#:~:text=...

[2] https://stackoverflow.com/a/55284340/24042444

[3] https://source.chromium.org/chromium/chromium/src/+/main:thi...