Hi,
As a custom development, it sure is possible. It will require developing a small module which would load the comparison layout.
That's what we do for most of the modules by default in HikaShop.
For example, the cart module's files are in the modules/mod_hikasop_cart/ folder on your website.
However, besides loading the settings of the module, it is mostly empty. It just load the corresponding layout from the HikaShop component.
It does this with the line:
$html = trim(hikashop_getLayout('product','cart',$params,$js));
This allows it to load the HTML of the view file product / cart of HikaShop.
So you could have something similar by replacing "cart" by "compare" in your custom module in order to use the product / compare view file which is used by HikaShop for the menu comparison page.