In addition to the information provided, here are some additional points. 16R provides the middleware, it is the postman delivering the message to the bank. With this integration, there are tools that come predefined and allow you monitoring messages, statuses, etc. all the toolset relevant to middleware software. There is also leverage with many banks, support from an SAP team, etc.
The option to exclude 16R would be to manage the integration with your won middleware. S/4HANA Cloud will still create the output files, and your own middleware will be needed to move such files from folders to the bank, manage statuses, errors, etc.
The short answer is that you can integrate with the banks without 16R by using your own middleware and integration tools. However, you will also have to develop all the protocols to manage the integration efficiently without missing files and/or messages in the process.
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