You can here. It does require an appointment, the next available was 6 weeks out when we converted my 90 something mom from a Real ID driver license to a State ID card (thereby making the world a MUCH safer place!).
Social distancing to get in to the DMV, minimal waiting, few 'bodies in the shop', quick processing, every station cleaned between customers, in and out in minutes.
My wife has been trying since Feb. 2020. Then appointments were 3 months out. She showed up and was told that starting in March they had canceled all existing appointments because of Covid and she had to start again. She then made another appointment for August. When she went to go that morning, she found they had unilaterally changed her appointment to another DMV office on the other side of the city, which she couldn’t get to. So she had to make another appointment. She is now scheduled for early December.