you bet ... on the passenger side, you will see a rubber gromet with the main wire harness in the middle. I was able to get an end of a coat hanger poked through (stay to the side so you dont enter the main harness). I then attached my trigger wire for my lights with some electrical tape to the hanger and pulled it back through.
It did take me a couple tries since the wire kept coming off the hanger. Make sure you tape the wire a few inches onto the hanger and use enough tape so it stays. I then tapped into the hot side of the foot well light using a small t-tap. I think the hot wire on my sport was a yellow/white wire. I think the other was black. Rubicons may have 3 wires ... so may need to use a test light to see which on has power when you open the door.