So you have to go through passport controls to travel from, say, Italy to Ireland, even though they are both in the EU?
And thanks.
But on your original point - yes, having entered the Republic of Ireland, anybody can then freely cross the Ireland/Northern Ireland border, since this is open thanks to an entirely separate (ie non-EU) bilateral agreement between the UK and Ireland - the Good Friday Agreement.
However, one of the (many) outstanding questions still to be resolved in implementing Brexit is the nature of the customs (and possibly other) checks between Northern Ireland and the rest of the UK. There will undoubtedly be some, but the detail is still to be negotiated.