Yes it is basically pulling in the JSON result of your REST query.
In the PBI query Editor, put something like the following for the source and followed with some data transformation steps:
=Json.Document(Web.Contents("ArcGIS Rest Query here"))
The ESRIJSON part will be a little tricky to deal with, but it's doable.
To avoid the license issue for the viewers, your content needs to be shared with everyone in AGOL or Enterprise.