Absolutely.
RsBuddy has a really good VIP script ($5/month) that allows friends. I'm sure many others do too.
I strongly suggest getting that altar though. Will make life easier in the longrun!
Most altar scripts support other players houses, just join the housesw31 fc and ask for an open house and enter that into the GUI where it tells you too. If they close the bot will stop but most hosts stay open for hours at a time.