Certainly possible. Long ago, I had a player recruited from the D2 pool briefly on the big board toward the start of his senior season, but he didn’t stay long, and wasn’t drafted. I know there have been players drafted from D3 teams, they came from the D1 pool though - if I recall, those are instances of lower division schools landing very highly rated recruits that had starting deficiencies causing D1 humans to stay away.
Peter McMillion could have been landed by a D2 who really wanted to fight me for him. I don’t think I invested all that much for him, maybe 150 AP (most fairly early, though) and a visit or 3. There was no way to know it, but he turned in to a legit Big 10 player after a redshirt and another year on the bench, and he’s #83 on the big board right now. He’s got a little growth in perimeter and ballhandling, so I may be able to keep him high enough to get him drafted, which would be awesome.