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Can a limited extension be a member of a call queue?

My specific situation involves a medical practice with two physical desktop phones at the front desk. There can be any of 4 people sitting there. All four people have RC extensions assigned to them by name, so that they can use messaging and the mobile phone app. If the two physical desktop phones are assigned to limited extensions (because those are cheaper), can those limited extensions be members of the "Front Desk" call queue? There can be several personnel changes throughout the day so I don't want to be constantly swapping desk phones to different users.

Thanks,