Yes, simply add any 1 item to the cart, then click thru by either method:

Hover mini-cart ==> click View and Edit Cart

-or

hover Help Center  ==> click Estimate Shipping

See Estimate Shipping (if the option has not expanded, click the arrow to the right)

Once you record zip/postal code, shipping rates begin to display. Your zip/postal code will remain in this field while you continue shopping so rates will update as you add/remove products from your cart.