7i95 board for 5ABoB(not T or S) firmware missing

Yes it can, although those will be software steppgens, meaning limited step rate that hugely depends on what latency the PC can maintain, usually you can get 10000 to 50000 steps per second.
If that is enough for what you need, then you can get 6 stepgens from a single parallel port, and 5 inputs.

Yes of course, when you mention parallel it is always referred to the parallel port, for Mesa we use header or IDC26 port.
Mesa header can do everything a parallel port can, at speeds of up to 10MHz/s for each pin (se above for parallel port speed), but can also do input or output on any of the 17 pins, and can have secondary hardware functions like PWM or stepgen or encoder inputs or....