if server implementations don’t explicitly filter it, it can be done.
I guess that’s a better question: are there any ActivityPub clients that tolerate bare IPs? IIRC email also supports bare IPs, but no one is willing to take mail without a domain, so the ability is moot. I would have expected to find someone posting from an IP, but I haven’t seen it yet. I might have to try it myself.
As for having the ID tied to a specific IP, I’ve seen enough dirty migrations that I think a sizable amount of people just don’t care. It’s sad that ActivityPub chose URIs as a means of identification instead of something more location agnostic like public/private key signing.