Yes, but it will only qualify if it is fully self-contained. It must have a bed, toilet (portable toilets are fine as long as you use it in the rig), sink, and a grey water holding tank at a minimum.
In an urban setting, hosts may be concerned about neighbors and appearances. For this reason, self-contained pop-up tent trailers may be rejected by some hosts even if the guest has met our qualifications for guest privileges.
Please be sure the rig description and photo on your guest profile clearly show your RV type. For hosts in an urban setting, you might also remind them in your request message to be sure that they are aware.
Hybrid pop-ups are now allowed in HH but canvass-sided pop-ups are not.