Yes, but it's hard. I've not found something that works well with glacier, because most backup solutions want to write state, modify files immediately, etc, and glacier can't do that. It would need to be an append-only backup; strictly.

I do a bit of a hybrid. Borg to expensive, always available storage, but really large stuff that rarely changes and is less important, I exclude and manually throw in glacier once a year or so. Think, all your blue-ray rips, etc.