Yes, but it's difficult. If Taramiel deals critical hits it's quite over...
Same amount of HP as when you fight her with Amazon and S'rami in the party (2300), but you have to solo her with the mom.
It's doable, but it's probably the most boring way to win the fight:
>abuse the 'Penetrate' skill so you can stun lock her with the state
>use Cock sucking to recover/steal HP
rinse and repeat hopefully she doesn't crit you with the 'Cum' skill otherwise you're more likely to lose.