Yes, if you already have a function that injects custom HTML to the WooCommerce checkout page, you can get the listing object via the code you posted. The listing ID is set as post_parent of the purchased product. Then, you can render the listing template, passing the listing object to it’s context. Here’s an example https://github.com/hivepress/hivepress/blob/master/includes/blocks/class-listings.php#L307