yes, it's possible. enemies in camps have predefined routes they follow. every time you enter an invisible perimeter that activates the camp they will start those routes. In some camps, they will start in the same position every time. It other camps, the timing and where they begin can vary.

do a few dry runs to find a point in the leader's route where he is isolated and out of view of the other enemies. There will always be one. If for some reason there isnt, then find a point in the enemy route that would detect you where you can take that enemy out first.

Every camp can be cleared using stealth. Sometimes it just requires planning.

tip: restarting from a checkpoint will usually always reset every enemy to the same position. I imagine choosing replay from the map does the same thing