It is possible to read capital and understand parts of it in the first pass, yes. Especially if read with a group, and/or with supplementary stuff. PSL's Reading Capital with Comrades podcast was a great review every two chapters. I also recommend David Harvey's lectures or supplements for deeper dives, after its had time to digest. David Harvey's got some funny views on Marxism, but he digs into a lot of the footnotes and history which is where all the flavor is.
Reviewing Harvey's material while criticizing his politics is a great practical application of Marx's method of critique!