Yes.

Straight swap, in my experience, makes the menage é trois that much more satisfying for everyone if the 4th spot is a helper position that each person can opt into as needed (rest, refocus, etc.)

Also, don't forget that there are many different ways to "participate" in group sex that are not actively genital on genital action. Spectating is a valid position if someone's into it, and just like ropeplay et al, is great for group fun. 🤙🏼