EDIT: This map[1] suggests you could do Norwich -> Birmingham New Street -> Bristol Temple Meads. Without having to go through London, I suspect this is indeed possible without changing trains, even if no operator runs that route.
[1]: https://www.thetrainline.com/cmsmedia/cms/9384/national-rail...
In practice, no - different train companies operate all 3 lines
Great Western Railway operates the Great Western franchise which incorporates much of south wales and south west of england - Including the Great western mainline. Abellio Greater Anglia operates most services on the Great Eastern Mainline
As for permissions I don't know if the crossrail core section has exclusivity granted to TFL (or its subcontractor MTR Corporation), given it's run as a concession this may be the case.
From the West end of the line in Reading nobody takes the Elizabeth Line to go into London, for instance, it's much too slow compared to the direct fast GWR trains.
This also means that the line probably cannot be shared with fast trains for direct routes from East to West, I think.
You're correct, fast intercity services and the stopping crossrail services likely cannot coexist.
But technically it is possible, assuming the requisite signalling standards are met by the rolling stock intended to be used. It's possible that only the Class 345 and Thameslink's Class 700's can meet this requirement currently.
freight trains will be doing that complicated bit every day