Yes. Of course we can allow God to speak to us without any go between and first it is advisable that we can speak to God. (We might feel silly talking into the air, but God knows the difference between spam and a genuine ask.) One stipulation is that the hearing will not contradict the teachings of Jesus as recorded in the Bible, like no matter how spectacular the voice, don't jump off a cliff. In other words, do no harm. So, if you hear someone or something that presents as if speaking for God anything which contrdicts those teachings, It ain't God you are hearing. The toughest is when quotes from the Bible are in their persuasive talking - either in the air or from a pulpit. Reference - Matthew 4:1-11 or Genesis 3:1–7 or 1 Timothy 1:1-2 - "Now the Holy Spirit tells us clearly that in the last times some will turn away from the true faith; they will follow deceptive spirits and teachings that come from demons. These people are hypocrites and liars, and their consciences are dead."