Yup. Just reread Article III, and Congress can do exactly that.
Interesting that judges are to remain in office as long as they show “good behavior.” This seems to be a lower standard for removal than the “high crimes and misdemeanours” for “civl officers” of the US.
Is a federal judge a “civil officer?”
IIRC, the good behavior clause was written to accomplish two related things. (1) Judges serve for life (2) as long as they behave.
It would have been a bad idea to merely state that judges have life terms without consideration of the possibility they could commit some act the congress found worthy of removal.
As for the practical difference between good behavior and high crimes/misdemeanors I’m at a loss.
I do know that if congress booted a couple federal judges each year, it would do wonders for our freedom.