Is it possible to access website through IP address and path to index file?

Is it possible to access website through IP address with path to index file instead of domain name?

Example:

• Domain: Youtube.com
• IP address: 216.58.209.142

Trying to access the website through IP address won't work. I understand this is because there can be multiple websites on the same IP address and the settings which directory gets sent to the user is set in nginx/apache.

Is it possible to visit the said website through for example 216.58.209.142/youtube/path/to/directory/index.html ?

If this works then how would I be able to get the full URL path?

Just curious, I'm not trying to achieve anything particular.