Only way you can eliminate a relay for Mopar NSS is if you have a shifter mounted NSS. I WOULD NOT. I would use a relay regardless of whether using a shifter NSS or the transmission NSS
You do NOT need to use the traditional starter relay if you don't want. The newer RAM/Dakota/Jeep stuff uses a Bosch style relay, mounted in the relay box.
My reasoning is the current draw of the solenoid. GM OEM NSS are designed for this, most aftermarket shifter NSS "not so much" There are limits LOL of what a mini/ micro sized "microswitch" can handle, regardless of current ratings.
THERE IS ONE HELL of a big voltage spike caused by the inductance of the solenoid, and that will EAT switches