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Yes that's possible by adding a CNAME record which points to custom.jotform2.com with your domain or subdomain. Here's a short but detailed guide on how to set it up How-to-use-Custom-Domains-with-Jotform
On the other hand, you also have an option to set a Custom URL for your forms. Although this will not sit on your domain, it's still worth sharing How-to-Create-a-Custom-URL-of-a-Form
Thanks. That works for me.