For those who have the opportunity, the short answer is no, you can't inherit the Kingdom without being baptised.
The long answer is as follows:
Jesus himself insisted on being baptised because, he said “Thus it becometh us to fulfil all righteousness”
Matthew 3:13 Then cometh Jesus from Galilee to Jordan unto John, to be baptized of him 14 But John forbad him, saying, I have need to be baptized of thee, and comest thou to me? 15 And Jesus answering said unto him, Suffer it to be so now: for thus it becometh us to fulfil all righteousness. Then he suffered him. 16 And Jesus, when he was baptized, went up straightway out of the water: and, lo, the heavens were opened unto him, and he saw the Spirit of God descending like a dove, and lighting upon him: 17 And lo a voice from heaven, saying, This is my beloved Son, in whom I am well pleased.
After his death and resurrection, Jesus instructed his apostles to baptise those who believed the gospel.
Matthew 28:19 Go ye therefore, and teach all nations, baptizing them in the name of the Father, and of the Son, and of the Holy Spirit:
Mark 16:15 And he said unto them, Go ye into all the world, and preach the gospel to every creature. 16 He that believeth and is baptized shall be saved; but he that believeth not shall be damned (condemned).
We see that belief is to be followed by baptism - 'He that believeth and is baptised shall be saved'.
At Pentecost, when the Jews asked what they must do, Peter told them that they must repent (change the way they live) and be baptised for the remission of their past sins.
Acts 2:38 Then Peter said unto them, Repent, and be baptized every one of you in the name of Jesus Christ for the remission of sins…
Acts 2:41 Then they that gladly received his word were baptized: and the same day there were added unto them about three thousand souls.
When the Samaritans believed the gospel preached by Philip, they were baptised.
Acts 8:12 But when they believed Philip preaching the things concerning the kingdom of God, and the name of Jesus Christ, they were baptized, both men and women.
When the Ethiopian eunuch believed the gospel preached by Philip, he was baptised.
Acts 8:36 And as they went on their way, they came unto a certain water: and the eunuch said, See, here is water; what doth hinder me to be baptized? 37 And Philip said, If thou believest with all thine heart, thou mayest. And he answered and said, I believe that Jesus Christ is the Son of God. 38 And he commanded the chariot to stand still: and they went down both into the water, both Philip and the eunuch; and he baptized him.
When the apostle Paul was converted, he was baptised.
Acts 9:18 And immediately there fell from his eyes as it had been scales: and he received sight forthwith, and arose, and was baptized.
Cornelius’ household, who were baptised by the Holy Spirit, were subsequently baptised in water.
Acts 10:47 Can any man forbid water, that these should not be baptized, which have received the Holy Spirit as well as we? 48 And he commanded them to be baptized in the name of the Lord. Then prayed they him to tarry certain days.
Lydia of Thyatira was baptised
Acts 16:14 And a certain woman named Lydia, a seller of purple, of the city of Thyatira, which worshipped God, heard us: whose heart the Lord opened, that she attended unto the things which were spoken of Paul. 15 And when she was baptized, and her household, she besought us, saying, If ye have judged me to be faithful to the Lord, come into my house, and abide there. And she constrained us.
The Philippian Jailer was baptised
Acts 16:33 And he took them the same hour of the night, and washed their stripes; and was baptized, he and all his, straightway.
Crispus, the chief ruler of the Synagogue in Corinth was baptised along with other Corinthians.
Acts 18:8 And Crispus, the chief ruler of the synagogue, believed on the Lord with all his house; and many of the Corinthians hearing believed, and were baptized.
Some of John Baptist’s disciples at Ephesus were rebaptised into Jesus Christ.
Acts 19:3 And he said unto them, Unto what then were ye baptized? And they said, Unto John’s baptism. 4 Then said Paul, John verily baptized with the baptism of repentance, saying unto the people, that they should believe on him which should come after him, that is, on Christ Jesus. 5 When they heard this, they were baptized in the name of the Lord Jesus.
Baptism is a burial of the old life, for the remission of past sins, and resurrection to a new life, to be lived by the commandments of Jesus Christ.
Romans 6:4 Therefore we are buried with him by baptism into death: that like as Christ was raised up from the dead by the glory of the Father, even so we also should walk in newness of life.
Without faith it is impossible to please God.
Baptism is the first act of faith required of us.
1 Peter 3:21 The like figure whereunto even baptism doth also now save us (not the putting away of the filth of the flesh, but the answer of a good conscience toward God,) by the resurrection of Jesus Christ:
Without baptism, we cannot begin a new life in Christ.
May I suggest that you read:
Why Baptism Really Matters https://www.thisisyourbible.com/library/show/178
I hope you find this helpful.