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Yes, but only for file management from OS. Let me explain.
As you said, it's better to directly access the kernel file for many reasons (and I suppose the most important is that if partition table gets corrupted you can continue to use it). On the other hand, bootloaders like GRUB are more easy to manage, since you can access files using an ext4 partition, when the OS is loaded.
The question is: do you know if it exists a bootloader that allow you to manage the bootloader itself and the kernel image from the OS using partition abstraction, BUT it loads the kernel image directly from the device, provided offset, block size and block number?
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