Yes.
In fact, I'd say that among all Star Wars TV shows it's the one which makes the most sense to someone who is unfamiliar with wider Star Wars lore.
Andor is a very independent entity, and everything you need to know to enjoy the show is encapsulated within the show itself.
The only problem watching Andor first is that it's so good, everything else will feel disappointing in comparison.
"So I built her a birthing nest and kept showing it to her and then she didn't even use it! Can you fucking believe it!!"
Honestly though, very sweet.