Yes, and this is one of the modeling benefits of the rating scale model. It's not entirely necessary to obtain such information though as generalized difficulty terms do exist (multiply by -1 to turn these into easiness estimates), and similar information comes out of observing the raw scores. See below.
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library(mirt)
itemstats(Science)
# based on marginal scores, item easiness goes from Work -> Benefit -> Future -> Comfort
mod <- mirt(Science, itemtype = 'rsm')
coef(mod, simplify=TRUE)$items
# model-based item easiness go from Work -> Benefit -> Future -> Comfort
mod2 <- mirt(Science, itemtype = 'gpcm')
coef(mod2, simplify=TRUE)$items
gen.difficulty(mod2) *-1
# model-based generalized 'easiness' estimates go from Work -> Benefit -> Future -> Comfort
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