Hello,
So, is it possible when any customer (guest or registered) enter cart to see shipping costs?
It will actually depends on how you have configured your shipping methods and their restrictions via "Hikashop->System->Shipping methods".
Your shipping methods should be available for everyone if it doesn't have any specific restrictions like zones, user groups, ...
Also, note that enabling the "HikaShop Shipping manual - Prices per product plugin" will enable you to have shipping price estimation through your product page.
Kind regards,
Mohamed Thelji.