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Yes, it is possible to add guests to the teams.

You can add them as other members and the guest would get an invitation and a Onetime Password that they would use to access Team.

Details of this process is documented here:

• Discover M365 and Zoom - Communicating & Collaborating with Guests in Teams.pdf - All Guides (sharepoint.com)

• How do I access Teams?
• Create my class in Teams