As others have already said, you can. However (if you haven’t done it yet), I wouldn’t recommend it. I think it’s best to play the game once without going back no matter what happens (this is what the developers recommend), then in later playthroughs do whatever you want.
https://www.reddit.com/r/DetroitBecomeHuman/comments/y5l7cj/replaying_chapters_mid_game/