Yes, but it is not possible to switch from self-employment status to P2P status in the same fiscal year. A minimum of one full fiscal year is required between the two status. A fiscal year lasts 365 days and systematically begins on January 1st.
Suppose you make your request for a change of status in 2020. In this case, you will have to wait until January 1, 2022 to become P2P.
If this is what you want, you can delete your VAT number from your company counter and wait until 2021 to drive as a P2P.

Once you have respected this rule, you can re-register as a P2P here.

By changing status, we will create a new rider ID for you. This means that we disable your P2P rider ID.