without passing the window ID (because it cause some issues in Qt) ?
Sure, you can - OpenGl_GraphicDriver and V3d_View can be initialized using externally created OpenGL context and window.
See, for example, an optional theContext argument in V3d_View::SetWindow() method.
You will have to provide a gluing layer between OCCT 3D Viewer and external OpenGL renderer by yourself, though.
This includes initialization, passing native context information, wrapping / allocating FBOs, managing swapchain, etc.