The short answer is no. Review Appendix 7: Aircraft, Equipment, and Operational Requirements & Limitations in the Instrument Rating - Airplane ACS.
Longer answer:
Additionally, knowledge element IR.VI.A.K3 in Task VI.A. Nonprecision Approach states that the applicant demonstrates understanding of... "Ground-based and satellite-based navigation systems used for a nonprecision approach." Task VI.B. Precision Approach, knowledge element IR.VI.B.K3 states the applicant must demonstrate understanding of... "Ground-based and satellite-based navigation (orientation, course determination, equipment, tests and regulations, interference, appropriate use of navigation data, signal integrity)." There are other references to ground-based navigation in other Tasks within the ACS.
Of course, that's only speaking to the Instrument Rating - Airplane practical test itself. 14 CFR 61.65(d)(2)(ii)(c) requires "Three different kinds of approaches with the use of navigation systems... " on the 250nm cross country instrument training flight.
Therefore, it's not currently possible to meet the aeronautical experience requirements of 61.65(d) purely in an aircraft equipped with an IFR-certified GPS, and no other form of navigation equipment installed. Nor is such an aircraft acceptable for an applicant to present for an IRA practical test.
(To avoid confusion, a GNS430, for example, contains an IFR GPS along with LOC/VOR. A GNC355 is a GPS/COM only.)