Depends on what the poster is. If it's still mostly text content, just arranged in a certain way, then by all means you can. For example:

https://typst.app/universe/package/poster-syndrome

And here's one for foldable cards:

https://typst.app/universe/package/keepsake

(Not endorsing those specific packages, they're just the first ones I managed to find)

For more free-form layouts, I just use Inkscape. It has built-in PDF export which works great. I assume other similar tools like Figma or Illustrator would also work well.