Yes, you can. All you need to do is modify your AMP configuration on your page to add the baseHref field containing the base domain to be taken as the base for the links:
clientConfig": {
"id": settingsId || "{{ AMP_EXAMPLE_SETTINGS_ID }}",
"baseHref": "https://example.com"
}
Having done this, one can now define the Imprint and Privacy Policy links in the AI in a relative form:
A simple use case for this is that you can present the same content on different domains (made possible by making the domain variable).