I collaborated with the designer of the notoriously complex, 23 pound box game Gloomhaven to do exactly this for the upcoming small-box, mass-market oriented Jaws of the Lion. We built a 5 scenario on-ramp tutorial I called Fischer-Price mode.

We included new, simpler, components in the game that are exclusively for this tutorial, have players add mechanics and components and systems one or two at a time. During playtesting we went from about 2+ hours to read and semi-understand the rules enough to play, to playing in about 10-15 minutes.

It can be done, but it can add significant cost (materials, development time) to the game.