Yes, I shoot in RAW by default most of the time. It can be quickly turned on and off from the stock camera app without even leaving the main screen.
You may have to enable it once in Settings -> Camera -> Formats; I've been using it so long I don't remember what the defaults are. But once you've done that, it's in the top right of the camera app - just tap where it says RAW.
On my Pixel RAW is also available, even moreso with the non-standard camera software.