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Yes, that is possible to do in jotform. To create a custom URL for your form, simply follow this guide: How to create a Custom URL of a form?.
Please do note that the custom URL includes your username, and it is not possible to remove the username from the custom URL.
Here's a sample form where I created a custom URL: https://form.jotform.com/Chriistian/customurlform
If you need further assistance, please let us know.