Probably not, from what I’ve seen, (Correct me if I’m wrong) you can only play as one character, so it would be impossible. Unless they jumped out of nowhere.
MitsuruLove, i'm going to correct you because you asked. In this video https://www.youtube.com/watch?v=Ik-Xl6V6AVM, it shows that you can play as 1 character, but can switch to 3 others, seemingly at will. Also it shows an all out attack so-