I think the answer is "yes". I don't have a map in front of me, though.
There is a walkway that is on the right off of Main St. If you turn down that path the Plaza restaurant would be on your right, and you would be walking towards Tomorrowland. If you continue on, you end up at the Tomorrowland Terrace Noodle Station, which connects over to Tomorrowland near the entrance to Stitch.
You don't need to go through the Plaza Pavilion to get to Tomorrowland. Just turn right off of Main St when you pass the icecream parlor and walk past the Plaza Pavilion and then through Tomorrowland Terrace.
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