Hi Marcelo, yes, you can modify the process instance to move the ‘token’ from one spot in the process to any other spot in the process using Camunda’s REST APIs for process instance modification. For more information have a look at https://docs.camunda.org/manual/latest/reference/rest/process-instance/post-modification/
More information regarding process modification using Java APIs https://docs.camunda.org/manual/latest/user-guide/process-engine/process-instance-modification/
But you should be careful when modifying process instances as it can lead to unexpected behavior. Whenever possible, model processes to account for re-work and transitions.
Joe