can we actually do BAPI calls without use of ALE or IDOC between 2 systems?

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hello Gurus,

Lets say there is one SAP box and have 2 clients and one client is ERP and the other one is DWM or both systems are in same network.

I know we can do communication between ERP and DWM using IDOC/ALE.

my question is, can we directly communicate using BAPI's?

In SPRO -> SAP NetWeaver -> Application Server -> IDoc Interface / Application Link Enabling (ALE) -> Communication

I have 3 tasks

1. Create RFC Connections :one creating RFC destination (some doc i read we can do direct BAPI calls to other system by creating Type 3 communication in RFC destination, I may be worng)

2. Determine RFC Destinations for Method Calls : this is the step I am not able to understand, here i can assign RFC destination to Logical system. Not sure what else i should ask here

Again can we actually do BAPI calls without use of ALE or IDOC between 2 systems? for the scenarios i have given in first line what should be communication?

Thanks

SB