Only for a version less than 24 hours old. You can no longer remove established packages.
A quote from the documentation page you linked:
> With the default registry (registry.npmjs.org), unpublish is only allowed with versions published in the last 24 hours. If you are trying to unpublish a version published longer ago than that, contact support@npmjs.com.
Yeah, it definitely exists: https://docs.npmjs.com/cli/unpublish