Only if three of Italy, Belgium, Spain and France finish top 2 in their qualifying groups. Risk of seeing it as nailed on thing is that you'd rather not need that safety net - finishing top 2 in the group means you've picked up a lot more points, and have much better form, than any side outside of that who is relying on 2020 results (ancient history) for the play-offs.
It's been pointed out that there are more rules to these groups than I first expected. Those four aforementioned countries are guaranteed a group of 5 instead of 6 and I saw it mentioned that certain teams (Iceland and Faroe Islands?) can't be drawn together due to distance away.