Hi,
Yes, it is possible using only SWDIO and SWCLK, but please keep in mind that if you don’t have a pull-up resistor in the ISP pin, then the first time you flash the MCU, it might enter ISP mode. Once you apply the CRP, this should not happen anymore.
If you do have that pull-up resistor, then it won’t enter ISP mode that first time.
I hope this helps, Daniel.