Yes, this can be easily configured using the mobile app. Please see eero’s guide here for further assistance.
Please note that you will require the static IPv4 address add-on (£3/month) to configure any IPv4 port forwarding.
IMPORTANT NOTE: Configuring settings like UPnP and port forwarding potentially opens your network to vulnerabilities, since by doing so you’re allowing devices to bypass the firewall and have an open connection to the Internet. This is considered an advanced feature and we recommend that only IT professionals consider this.